Tracking control method and system for engineering machinery by power transmission vehicle

Abstract

The invention provides a following control method and system for engineering machinery by a power transmission vehicle, and relates to the technical field of engineering machinery, and the following control method comprises the steps that real-time position data of the engineering machinery and the power transmission vehicle and accelerator, brake and steering wheel information of the engineering machinery are acquired, and the position data comprise actual coordinates and actual speed; based on the real-time position data, according to the following distance between the power transmission vehicle and the engineering machinery, calculating set coordinates of the power transmission vehicle relative to the engineering machinery; feedforward control is carried out on the speed and direction of the power transmission vehicle according to the error between the set coordinates and the actual coordinates and information of an accelerator, a brake and a steering wheel of the engineering machinery, and the driving path of the power transmission vehicle is continuously adjusted; based on the GPS and wireless communication technology, the position coordinates of the target machinery are positioned in real time, the driving path of the power transmission vehicle is adjusted in real time, the engineering machinery is automatically followed in real time, and efficient and safe construction power supply is achieved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of construction machinery, and particularly relates to a following control method and system for a power transmission vehicle to a construction machinery. Background Art

[0002] During the construction process, construction machinery needs to move at any time, and it requires a power transmission line for power supply. The power transmission line is provided by a power transmission vehicle. The power transmission vehicle follows the construction machinery to provide the power transmission line. If the power transmission line is too long, it will be crushed by the construction machinery. If it is too short, it will cause inconvenience in movement or even collision, affecting the construction efficiency.

[0003] Existing power transmission vehicles usually actively follow construction machinery manually, with large visual errors and insufficient reaction speed, resulting in poor following effects of the power transmission vehicle on the construction machinery. Summary of the Invention

[0004] In order to solve the above problems, the present disclosure provides a following control method and system for a power transmission vehicle to a construction machinery. Based on GPS and wireless communication technologies, the position coordinates of the target construction machinery are real-time located, the driving path of the power transmission vehicle is real-time adjusted, and the power transmission vehicle automatically follows the construction machinery in real time to achieve efficient and safe construction power supply.

[0005] According to some embodiments, the present disclosure adopts the following technical solutions:

[0006] A following control method for a power transmission vehicle to a construction machinery, comprising:

[0007] Obtain the real-time position data of the construction machinery and the power transmission vehicle, as well as the throttle, brake, and steering wheel information of the construction machinery. The position data includes the actual coordinates and the actual speed;

[0008] Based on the real-time position data, according to the following distance between the power transmission vehicle and the construction machinery, calculate the set coordinates of the power transmission vehicle relative to the construction machinery;

[0009] Utilize the error between the set coordinates and the actual coordinates, together with the throttle, brake, and steering wheel information of the construction machinery, to perform feedforward control on the speed and direction of the power transmission vehicle, and continuously adjust the driving path of the power transmission vehicle.

[0010] Further, the real-time position data is obtained by real-time sampling using GPS installed on the construction machinery and the power transmission vehicle.

[0011] Further, the throttle, brake, and steering wheel information is obtained by sampling using a throttle pedal position sensor, a brake pedal sensor, and a steering wheel angle sensor provided on the construction machinery.

[0012] Further, the construction machinery sends the real-time position data, throttle, brake, and steering wheel information to the power transmission vehicle through wireless communication technology.

[0013] Further, the set coordinates of the power transmission vehicle relative to the construction machinery are calculated by back-calculating the set coordinates (x3, y3) through the following formula:

[0014]

[0015] where L is the following distance, (x1, y1) and (x2, y2) are the actual coordinates of the construction machinery and the power transmission vehicle, are the actual speeds of the construction machinery and the power transmission vehicle respectively, the distance between the position where the construction machinery connects the cable and the center point of the construction machinery is H1, the distance between the position where the power transmission vehicle connects the cable and the center point of the power transmission vehicle is H2, and the sampling time is t0.

[0016] Further, the feedforward control of the speed and direction of the power transmission vehicle is performed by using a super-twisting sliding mode control algorithm to control the speed and direction of the power transmission vehicle.

[0017] According to some embodiments, the present disclosure adopts the following technical solutions:

[0018] A following control system of a power transmission vehicle for construction machinery, comprising:

[0019] An acquisition module, configured to: acquire the real-time position data of the construction machinery and the power transmission vehicle, as well as the throttle, brake, and steering wheel information of the construction machinery, and the position data includes actual coordinates and actual speeds;

[0020] A calculation module, configured to: calculate the set coordinates of the power transmission vehicle relative to the construction machinery based on the real-time position data according to the following distance between the power transmission vehicle and the construction machinery;

[0021] A control module, configured to: use the error between the set coordinates and the actual coordinates, together with the throttle, brake, and steering wheel information of the construction machinery, to perform feedforward control on the speed and direction of the power transmission vehicle, and continuously adjust the driving path of the power transmission vehicle.

[0022] According to some embodiments, the present disclosure adopts the following technical solutions:

[0023] A computer program product, comprising a computer program, where when the computer program is executed by a processor, it implements the following control method of a power transmission vehicle for construction machinery.

[0024] According to some embodiments, the present disclosure adopts the following technical solutions:

[0025] A non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, it implements the following control method of a power transmission vehicle for construction machinery.

[0026] According to some embodiments, the present disclosure adopts the following technical solutions:

[0027] An electronic device includes: a processor, a memory, and a computer program; wherein, the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device runs, the processor executes the computer program stored in the memory so that the electronic device executes the described method for following and controlling an engineering vehicle by a power transmission vehicle.

[0028] Compared with the prior art, the beneficial effects of the present disclosure are:

[0029] The present invention provides a method for following and controlling an engineering vehicle by a power transmission vehicle. Based on GPS and wireless communication technologies, the position coordinates of the target engineering vehicle are located in real time, the driving path of the power transmission vehicle is adjusted in real time, and the power transmission vehicle automatically follows the engineering vehicle in real time, realizing efficient and safe construction power supply.

[0030] Compared with the existing following methods for engineering vehicles on the market, the present invention introduces the feedback idea based on the information of the throttle, brake, and steering wheel, performs feedforward following control on the power transmission vehicle, and at the same time adopts a more superior control algorithm in terms of following performance - super-twisting sliding mode control, making the following fast and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings forming a part of this disclosure are used to provide a further understanding of the disclosure. The schematic embodiments and descriptions thereof of the disclosure are used to explain the disclosure and do not constitute an improper limitation to the disclosure.

[0032] Figure 1 It is a flowchart of the method for Embodiment 1.

[0033] Figure 2 It is a schematic diagram of a power transmission vehicle following an engineering vehicle for Embodiment 1.

[0034] Figure 3 It is a block diagram of the speed control of the power transmission vehicle for Embodiment 1.

[0035] Figure 4 It is a block diagram of the direction control of the power transmission vehicle for Embodiment 1. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following further illustrates the present disclosure in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further illustration of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present disclosure belongs.

[0038] It should be noted that the terms used herein are merely for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "comprising" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0039] Embodiment 1

[0040] In an embodiment of the present disclosure, a following control method for a power transmission vehicle to a construction machinery is provided. Based on the positioning function of GPS, during the construction process, the power transmission vehicle can follow the construction machinery within a controllable range, improving the power transmission stability and construction efficiency, as Figure 1 shown. The specific steps include:

[0041] Step S1: Obtain the real-time position data of the construction machinery and the power transmission vehicle, as well as the throttle, brake, and steering wheel information of the construction machinery. The position data includes the actual coordinates and the actual speed.

[0042] Step S2: Based on the real-time position data, calculate the set coordinates of the power transmission vehicle relative to the construction machinery according to the following distance between the power transmission vehicle and the construction machinery.

[0043] Step S3: Use the error between the set coordinates and the actual coordinates, together with the throttle, brake, and steering wheel information of the construction machinery, to perform feedforward control on the speed and direction of the power transmission vehicle, and continuously adjust the driving path of the power transmission vehicle.

[0044] As an embodiment, a following control method for a power transmission vehicle to a construction machinery according to the present disclosure is as follows in the specific implementation process:

[0045] Utilize the precise positioning of GPS to provide the real-time position data (i.e., actual coordinates, actual speed) of the construction machinery and the power transmission vehicle. At the same time, in the construction machinery, the throttle, brake amount, and steering wheel steering information are collected and transmitted in real time. Using the collected information, closed-loop control is performed.

[0046] The closed-loop control here is used to control the power transmission vehicle to quickly and accurately follow the construction machinery. Therefore, the control object is the power transmission vehicle. While controlling the following distance between the power transmission vehicle and the construction machinery, the coordinate position of the power transmission vehicle is accurately and conveniently calculated, input to the controller, and the GPS coordinates of the power transmission vehicle are fed back in real time, continuously controlling and adjusting the driving path of the power transmission vehicle. Specifically:

[0047] (1) GPS positioning

[0048] Install GPS modules on the construction machinery and the power transmission vehicle respectively to obtain their respective real-time position data (coordinates, speed, etc.).

[0049] (2) Data transmission

[0050] Through the sensors on construction machinery, the throttle, brake, and steering wheel information of construction machinery is collected in real time and wirelessly transmitted to the power transmission vehicle, facilitating the analysis and timely response of the power transmission vehicle.

[0051] (3) Setting coordinate calculation method

[0052] The distance between the power transmission vehicle and the construction machinery should not be too long or too short. Therefore, according to the actual situation, there should be an optimal following distance for the power transmission vehicle to follow the construction machinery for power supply. Here, when controlling the driving path of the power transmission vehicle to maintain a certain following distance, it should coincide with the construction machinery as much as possible. Therefore, the cable between the power transmission vehicle and the construction machinery can be approximated as a straight line for easy calculation.

[0053] As Figure 2 shown, the length of the control cable is set as L, that is, the preset following distance; according to GPS positioning, the real-time coordinates of the construction machinery are (x1, y1), and the speed is The distance between the position where the construction machinery connects the cable and the center point of the construction machinery is H1; according to GPS positioning, the real-time coordinates of the power transmission vehicle are (x2, y2), and the speed is The distance between the position where the power transmission vehicle connects the cable and the center point of the power transmission vehicle is H2; the relative coordinates of the power transmission vehicle, that is, the set coordinates, are (x3, y3); the GPS sampling time is t0.

[0054] Here, considering the relative motion between the power transmission vehicle and the construction machinery, when calculating the relative coordinates, the speeds of both are taken into account, leaving a distance margin caused by relative motion. The set coordinates (x3, y3) are deduced by the following formula:

[0055]

[0056] Here, y3 = y2 is fixed. In the above formula, except for x3, all are known quantities. Therefore, x3 can be obtained to get the set coordinates (x3, y3).

[0057] (4) Following control algorithm

[0058] First, based on the actual coordinates collected by GPS and the calculated set coordinates, using super-twisting sliding mode control, the error between the set coordinates and the actual coordinates is used as the input of the sliding mode control to output the initial control quantity. Then, based on the throttle, brake, and steering wheel information of the construction machinery, feedforward control is performed to ensure that the following performance of the power transmission vehicle is fast and stable during the tracking process.

[0059] Specifically, Figure 3 is the control flow chart of the power transmission vehicle speed, asFigure 3 As shown, first, the error between the set coordinates and the actual coordinates is used as the input of the sliding mode control. After calculation by the super-twisting sliding mode controller, the initial control quantity u0 of the speed is obtained. When the actual coordinates are less than the set coordinates, the power transmission vehicle accelerates; when the actual coordinates are greater than the set coordinates, the power transmission vehicle decelerates.

[0060] Then, based on the throttle and brake information of the construction machinery, according to the degree of pressing the throttle and brake of the construction machinery, the throttle feedforward control quantity is set from 0 to 100 and the brake feedforward control quantity is set from -100 to 0 respectively from the minimum to the maximum. In the feedforward controller, the control quantities calculated according to the throttle and brake information are combined, and the feedforward control quantity u1 is obtained according to the degrees of pressing the throttle and brake respectively, and its range is -100 to 100. In this way, when the throttle is increased, the control quantity of the speed of the power transmission vehicle can also be increased in advance through feedforward, so that the power transmission vehicle can respond quickly and accelerate; when the brake is increased, the control quantity of the speed of the power transmission vehicle is reduced in advance through feedforward, and the power transmission vehicle responds quickly and decelerates, realizing more timely following.

[0061] Finally, based on the sum of u0 and u1, the final control quantity of the speed is constructed to control the power transmission vehicle.

[0062] Figure 4 is the control flow chart of the direction of the power transmission vehicle. As Figure 4 shown, first, the error between the set coordinates and the actual coordinates is used as the input of the sliding mode control. After calculation by the super-twisting sliding mode controller, the control quantity u2 is obtained. When the set coordinates are on the left of the actual coordinates, the direction of the power transmission vehicle is to the left; when the set coordinates are on the right of the actual coordinates, the direction of the power transmission vehicle is to the right.

[0063] Then, based on the steering wheel steering information of the construction machinery, the feedforward control quantity u3 obtained from the steering information of turning the steering wheel of the construction machinery from full left to straight and then to full right is set to -75 to 0 to 75. In this way, when the power transmission vehicle obtains the steering information of the construction machinery, it uses feedforward control to respond quickly and change the direction in time to follow the construction machinery.

[0064] Finally, based on the sum of u2 and u3, the final control quantity of the direction is constructed to control the power transmission vehicle.

[0065] Embodiment 2

[0066] In an embodiment of the present disclosure, a following control system for a power transmission vehicle to a construction machinery is provided, including:

[0067] An acquisition module, configured to: acquire the real-time position data of the construction machinery and the power transmission vehicle and the throttle, brake, and steering wheel information of the construction machinery, where the position data includes actual coordinates and actual speed;

[0068] A calculation module, configured to: calculate the set coordinates of the power transmission vehicle relative to the construction machinery based on the real-time position data according to the following distance between the power transmission vehicle and the construction machinery;

[0069] A control module, configured to: utilize the error between the set coordinates and the actual coordinates, together with the throttle, brake, and steering wheel information of the construction machinery, to perform feedforward control on the speed and direction of the power transmission vehicle, and continuously adjust the driving path of the power transmission vehicle.

[0070] Embodiment 3

[0071] In an embodiment of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the following method for following control of a power transmission vehicle by a construction machinery is implemented.

[0072] Embodiment 4

[0073] In an embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, and the non-transitory computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the following method for following control of a power transmission vehicle by a construction machinery is implemented.

[0074] Embodiment 5

[0075] In an embodiment of the present disclosure, an electronic device is provided, including: a processor, a memory, and a computer program; wherein, the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device runs, the processor executes the computer program stored in the memory, so that the electronic device executes and implements the following method for following control of a power transmission vehicle by a construction machinery.

[0076] The present disclosure is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the processes Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for the functions specified in one block or a plurality of blocks.

[0078] Although the specific embodiments of the present disclosure have been described above in conjunction with the accompanying drawings, they are not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that, based on the technical solutions of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative efforts are still within the scope of protection of the present disclosure.

Claims

1. A following control method for a power transmission vehicle to a construction machinery, characterized in that, Including: Obtain the real-time position data of the construction machinery and the power transmission vehicle, as well as the information of the throttle, brake, and steering wheel of the construction machinery. The position data includes the actual coordinates and the actual speed; Based on the real-time position data, calculate the set coordinates of the power transmission vehicle relative to the construction machinery according to the following distance between the power transmission vehicle and the construction machinery; Utilize the error between the set coordinates and the actual coordinates, together with the information of the throttle, brake, and steering wheel of the construction machinery, to perform feedforward control on the speed and direction of the power transmission vehicle, and continuously adjust the driving path of the power transmission vehicle.

2. The follow-up control method of a power transmission vehicle for construction machinery according to claim 1, characterized in that, The real-time position data is obtained by real-time sampling using the GPS installed on the construction machinery and the power transmission vehicle.

3. The follow-up control method of a power transmission vehicle for construction machinery according to claim 1, characterized in that, The information of the throttle, brake, and steering wheel is obtained by sampling using the throttle pedal position sensor, brake pedal sensor, and steering wheel angle sensor installed on the construction machinery.

4. The follow-up control method of a power transmission vehicle for construction machinery according to claim 1, characterized in that, The construction machinery sends the real-time position data, throttle, brake, and steering wheel information to the power transmission vehicle through wireless communication technology.

5. The follow-up control method of a power transmission vehicle for construction machinery according to claim 1, characterized in that, The calculation of the set coordinates of the power transmission vehicle relative to the construction machinery is to reverse-calculate the set coordinates (x3, y3) through the following formula: Among them, L is the following distance, (x1, y1) and (x2, y2) are the actual coordinates of the construction machinery and the power transmission vehicle, v1 and v2 are the actual speeds of the construction machinery and the power transmission vehicle respectively, the distance between the position where the construction machinery connects the cable and the center point of the construction machinery is H1, the distance between the position where the power transmission vehicle connects the cable and the center point of the power transmission vehicle is H2, and the sampling time is t0.

6. The follow-up control method of a power transmission vehicle for construction machinery according to claim 1, characterized in that, The feedforward control of the speed and direction of the power transmission vehicle adopts a super-twisting sliding mode control algorithm to control the speed and direction of the power transmission vehicle.

7. A following control system for a power transmission vehicle to a construction machinery, characterized in that, Including: An acquisition module configured to: obtain the real-time position data of the construction machinery and the power transmission vehicle, as well as the information of the throttle, brake, and steering wheel of the construction machinery. The position data includes the actual coordinates and the actual speed; A calculation module configured to: based on the real-time position data, calculate the set coordinates of the power transmission vehicle relative to the construction machinery according to the following distance between the power transmission vehicle and the construction machinery; A control module configured to: utilize the error between the set coordinates and the actual coordinates, together with the information of the throttle, brake, and steering wheel of the construction machinery, to perform feedforward control on the speed and direction of the power transmission vehicle, and continuously adjust the driving path of the power transmission vehicle.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for following control of a power transmission vehicle to a construction machinery according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, it implements the method for following control of a power transmission vehicle to a construction machinery according to any one of claims 1-6.

10. An electronic device, characterized in that, Including: A processor, a memory, and a computer program; wherein, the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device runs, the processor executes the computer program stored in the memory so that the electronic device executes the method for following control of a power transmission vehicle to a construction machinery according to any one of claims 1-6.

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