Scraper control method, device and system, storage medium and product

Abstract

The invention relates to a carry-scraper control method, device and system, a storage medium and a product, and relates to the technical field of engineering machinery. The control method of the carry-scraper comprises the following steps: acquiring state data and environment data of the carry-scraper; according to the state data and the environment data, determining a target state of the carry-scraper in a shoveling process; determining values of a plurality of operation parameters of the carry-scraper according to the full-fill rate model; determining a control signal for controlling the carry-scraper to be switched to a target state according to the values of the plurality of operation parameters; according to the control signal and the state data, the flow in a hydraulic system of the carry-scraper is controlled, so that the carry-scraper responds to be switched to the target state to complete the shoveling and transporting process.

Description

Technical Field

[0001] The present disclosure relates to the technical field of engineering machinery, and in particular to a control method, device, system, storage medium and product for a scraper. Background Art

[0002] In order to improve operational safety and reduce labor costs, resource mining-related industries have begun to use unmanned loaders to shovel materials autonomously. Summary of the Invention

[0003] A technical problem to be solved by the present disclosure is: how to improve the accuracy of controlling a scraper to increase the full bucket rate of the scraper.

[0004] According to a first aspect of some embodiments of the present disclosure, a control method for a shovel loader is provided, including: acquiring status data and environmental data of the shovel loader; determining a target state of the shovel loader during a shoveling process based on the status data and environmental data; determining values ​​of multiple operating parameters of the shovel loader based on a full bucket rate model; determining a control signal for controlling the shovel loader to switch to a target state based on the values ​​of the multiple operating parameters; and controlling the flow in the hydraulic system of the shovel loader based on the control signal and status data, so that the shovel loader completes the shoveling process in response to switching to the target state.

[0005] In some embodiments, the bucket fill rate model is used to indicate the correlation between the bucket fill rate of the scraper and multiple operating parameters, and the weights corresponding to the multiple operating parameters are determined based on the actual bucket fill rate of the scraper when the scraper performed the last shoveling.

[0006] In some embodiments, the above-mentioned control method also includes: determining whether to adjust the weight of at least one operating parameter in the full bucket rate model based on the actual full bucket rate of the last shoveling performed by the shovel loader and the expected full bucket rate of the last shoveling; in the case of determining to adjust the weight of at least one operating parameter in the full bucket rate model, making a first adjustment to the weights of multiple operating parameters in the full bucket rate model to determine the weights of the target operating parameters; and making a second adjustment to the weights of the target operating parameters in the full bucket rate model so that the expected full bucket rate of the adjusted full bucket rate model reaches the target value.

[0007] In some embodiments, performing a first adjustment on the weights of multiple operating parameters in the fill rate model to determine the weight of the target operating parameter includes: performing a first adjustment on the weight of each operating parameter among the weights of the multiple operating parameters, and redetermining the expected fill rate of the fill rate model based on the weight of the operating parameter after the first adjustment; and determining the weight of the target operating parameter from the weights of the multiple operating parameters according to the redetermined expected fill rate corresponding to the weight of each operating parameter.

[0008] In some embodiments, the plurality of operating parameters include at least one of a bucket penetration depth, a bucket lift angle, a material density, and a vehicle shovel speed.

[0009] In some embodiments, the bucket fill rate model has constraints, and the constraints are determined based on the range of bucket angle, boom angle, scraper position, and scraper speed.

[0010] In some embodiments, the flow in the hydraulic system of the scraper loader includes the flow of the hydraulic cylinder corresponding to the arm of the scraper loader and the flow of the hydraulic cylinder corresponding to the bucket of the scraper loader. The control signal includes a position signal. Controlling the flow in the hydraulic system of the scraper loader based on the control signal and the status data includes: determining the current state of the arm and the current state of the bucket based on the status data; and controlling the flow of the hydraulic cylinder corresponding to the arm of the scraper loader and the flow of the hydraulic cylinder corresponding to the bucket of the scraper loader using a proportional-integral-derivative (PID) strategy based on the position signal, the current state of the arm, and the current state of the bucket.

[0011] In some embodiments, the current state of the boom includes the current angle of the boom and the current angular velocity of the boom, and the current state of the bucket includes the current angle of the bucket and the current angular velocity of the bucket. According to the position signal, the current state of the boom and the current state of the bucket, the PID strategy is used to control the flow of the hydraulic cylinder corresponding to the boom of the shovel loader and the flow of the hydraulic cylinder corresponding to the bucket of the shovel loader. The flow includes: determining the target angle of the boom and the target angle of the bucket according to the position signal; determining the target angular velocity of the boom and the target angular velocity of the bucket according to the target angle of the boom, the current angle of the boom, the target angle of the bucket and the current angle of the bucket by using the PID strategy; determining the flow of the hydraulic cylinder corresponding to the boom and the flow of the hydraulic cylinder corresponding to the bucket according to the target angular velocity of the boom, the current angular velocity of the boom, the target angular velocity of the bucket and the current angular velocity of the bucket by using the PID strategy.

[0012] In some embodiments, the shoveling process includes multiple steps, each step has a corresponding target state, and determining the control signal for controlling the shovel loader to achieve the target state based on the values ​​of multiple operating parameters includes: for each step in the multiple steps, determining whether the step corresponds to multiple operating parameters; for the steps corresponding to multiple operating parameters, determining the target operating mode of the step based on the values ​​of the operating parameters corresponding to the step; based on the target operating mode of the step, determining the control signal for controlling the shovel loader to achieve the target state corresponding to the step.

[0013] In some embodiments, the multiple steps include lowering the boom, leveling the bucket, shoveling, lifting the bucket, flipping the bucket, raising the boom, and lifting the bucket and shoveling at the same time, and the lifting bucket, flipping the bucket, and raising the boom are performed multiple times in a cycle until the scraper reaches the specified position, and then the bucket and shovel are lifted simultaneously.

[0014] In some embodiments, for each step of lowering the boom, leveling the bucket, lifting the bucket, flipping the bucket, raising the boom, lifting the bucket and flushing the shovel at the same time, the target state corresponding to the step includes the target position corresponding to the step; for the flushing shovel step, the target state corresponding to the step includes at least one of the target vehicle torque of the loader, the target vehicle speed of the loader, and the target position corresponding to the step.

[0015] In some embodiments, the status data includes at least one of the current angle of the loader's boom, the current angular velocity of the boom, the current angle of the bucket, the current angular velocity of the bucket, the throttle control information of the loader, and the speed of the loader; the environmental data includes at least one of the position of the loader and the position of the material.

[0016] In some embodiments, the state data is acquired using sensors mounted on the scraper; and the environmental data is acquired using at least one of a camera and a lidar mounted on the scraper.

[0017] According to a second aspect of some embodiments of the present disclosure, a control device for a shovel loader is provided, including: an acquisition module configured to acquire status data and environmental data of the shovel loader; a first determination module configured to determine the target state of the shovel loader during the shoveling process based on the status data and environmental data; a second determination module configured to determine the values ​​of multiple operating parameters of the shovel loader based on a full bucket rate model; a third determination module configured to determine a control signal for controlling the shovel loader to switch to a target state based on the values ​​of the multiple operating parameters; and a control module configured to control the flow in the hydraulic system of the shovel loader based on the control signal and status data, so that the shovel loader completes the shoveling process in response to switching to the target state.

[0018] According to a third aspect of some embodiments of the present disclosure, a control device for a scraper is provided, comprising: a processor; and a memory coupled to the processor, for storing instructions, which, when executed by the processor, causes the processor to execute the control method as described above.

[0019] According to a fourth aspect of some embodiments of the present disclosure, a control system for a scraper is provided, comprising: the control device as described above, and a scraper.

[0020] In some embodiments, the scraper is equipped with: a sensor configured to obtain status data of the scraper; and a camera and a lidar configured to obtain environmental data.

[0021] According to a fifth aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer instructions are stored, wherein the instructions, when executed by a processor, implement the control method as described above.

[0022] According to a sixth aspect of some embodiments of the present disclosure, there is provided a computer program product comprising instructions, which, when executed by a processor, cause the processor to perform the control method as described above.

[0023] The present disclosure combines a bucket fill rate model, the scraper's status data, and environmental data to control the scraper during shoveling. The bucket fill rate model can be used to determine the values ​​of multiple operating parameters of the scraper associated with the bucket fill rate, thereby controlling the scraper to shovel materials according to the values ​​of these multiple operating parameters during the shoveling process. This improves the control accuracy of the scraper and increases the scraper's bucket fill rate.

[0024] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 A flow chart of a method for controlling a scraper according to some embodiments of the present disclosure is shown.

[0027] Figure 2 A schematic flow chart of a shoveling process according to some embodiments of the present disclosure is shown.

[0028] Figure 3 A flow chart of PID control according to some embodiments of the present disclosure is shown.

[0029] Figure 4 A flow chart of a method for controlling a scraper according to other embodiments of the present disclosure is shown.

[0030] Figure 5 A schematic structural diagram of a control device for a scraper according to some embodiments of the present disclosure is shown.

[0031] Figure 6 A schematic structural diagram of a control device for a scraper according to other embodiments of the present disclosure is shown.

[0032] Figure 7 A schematic structural diagram of a control device for a scraper according to some further embodiments of the present disclosure is shown.

[0033] Figure 8 A schematic structural diagram of a control system of a scraper according to some embodiments of the present disclosure is shown.

[0034] Figure 9 A schematic structural diagram of a control system of a scraper according to some other embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0036] Figure 1 FIG. 1 is a flow chart showing a control method for a scraper according to some embodiments of the present disclosure. Figure 1 As shown, the method of this embodiment includes steps S11 to S19.

[0037] In step S11 , the state data and environment data of the scraper are acquired.

[0038] The status data of a scraper (also known as a shovel) reflects the real-time status of the scraper. Based on this status data, the scraper's operating status can be controlled and the effectiveness of this control determined. This status data includes at least one of the current angle and angular velocity of the scraper's boom, the current angle and angular velocity of the bucket, the scraper's throttle control information, and the scraper's speed. In some embodiments, this status data is acquired using sensors installed on the scraper. These sensors enable convenient, real-time acquisition of scraper status data.

[0039] Environmental data is used to reflect the environment in which the scraper is located. The environmental data includes at least one of the scraper's location and the location of the material. Based on the environmental data, the scraper can be controlled to move toward the material (or material pile) to shovel the material. In some embodiments, the environmental data is acquired using at least one of a camera and a lidar mounted on the scraper. The camera continuously captures images to collect image information. The lidar scans multiple times per second to collect point cloud information. The scanned point cloud data is integrated into a map constructed using the image information, thereby determining the location of the scraper and the location of the material in the surrounding environment.

[0040] Sensors, cameras, and lidar installed on the LHD can easily and accurately acquire the LHD's status and environmental data, facilitating subsequent control of the LHD. Furthermore, this method of acquiring status and environmental data is less restricted by the environment and can be applied, for example, to LHDs performing underground hauling operations, thereby reducing the need for personnel and lowering safety risks.

[0041] In step S13, the target state of the scraper during the scraping process is determined based on the state data and the environment data.

[0042] The scraper's shoveling process consists of multiple steps. Controlling the scraper requires completing these steps, with each step corresponding to a target state. Once the scraper reaches the target state for a step, it completes that step and moves on to the next step. Once all steps in the scraping process are completed, the scraper completes one scraping process.

[0043] In some embodiments, the multiple steps include lowering the boom, leveling the bucket, shoveling, lifting the bucket, flipping the bucket, raising the boom, and lifting the bucket and shoveling at the same time, and the lifting bucket, flipping the bucket, and raising the boom are performed multiple times in a cycle until the scraper reaches the specified position, and then the bucket and shovel are lifted simultaneously.

[0044] Figure 2 FIG. 1 shows a flow chart of the shoveling process according to some embodiments of the present disclosure. Figure 2 As shown, the shoveling process in this embodiment includes steps S21 to S28.

[0045] In step S21 , in response to the scraper receiving an instruction to start autonomous scraping, a boom lowering operation is performed.

[0046] First, establish the coordinate system of the scraper boom bucket. Based on the location of the stockpile, determine the shoveling point at a certain distance from the stockpile. This shoveling point can be determined based on a predetermined strategic plan. At the shoveling point, lower the boom and control the boom bucket to the first target position (x1, z1). This first target position can be determined through actual calibration. Furthermore, the first target position, i.e., the target position of the boom bucket, can be represented by the position of the bucket's tooth tips. The target positions of the boom and bucket are determined using the bucket's tooth tip position. Subsequent target positions of the boom bucket are similar to those described here and will not be further described.

[0047] In step S22 , when the boom bucket reaches the first position, the bucket is leveled.

[0048] Using the boom bucket coordinate system, the boom bucket is controlled to reach the second target position (x2, z2). The second target position can also be obtained through actual calibration.

[0049] In step S23 , when the boom bucket reaches the second position, shoveling is performed.

[0050] Control the scraper's disembarkation speed. When the vehicle torque is controlled within a certain range, or the vehicle speed is within a certain range, or the vehicle reaches a certain position, it means that the vehicle's bucket has been inserted into the pile.

[0051] In step S24 , after the bucket is inserted into the pile, the bucket is lifted.

[0052] Using the above boom bucket coordinate system, the boom bucket is controlled to reach a fourth target position (x4, z4). The fourth target position can be determined based on the position of the material pile, for example, a suitable position is determined within the material pile.

[0053] In step S25 , after the boom bucket reaches the fourth position, the bucket is flipped.

[0054] Using the boom bucket coordinate system, the boom bucket is controlled to reach the fifth target position (x5, z5). The fifth target position can be determined based on the location of the pile, for example, a suitable position within the pile.

[0055] In step S26 , after the boom bucket reaches the fifth target position, the boom is raised.

[0056] Using the boom bucket coordinate system, the boom bucket is controlled to reach the sixth target position (x6, z6). The sixth target position can be obtained through actual calibration.

[0057] After the boom bucket reaches the sixth target position, the process returns to S24, where steps S24, S25, and S26 are repeatedly executed. Step S27 is then executed until the scraper reaches the designated position. The designated position of the scraper is determined relative to the scraper's off-vehicle coordinate system and can be determined based on historical experience or actual calibration.

[0058] In step S27, the bucket and the shovel are lifted up simultaneously.

[0059] Using the aforementioned boom-bucket coordinate system, the boom-bucket is controlled to reach the seventh target position (x7, z7). This seventh target position can be determined through actual calibration. When the boom-bucket reaches the seventh target position, the autonomous shoveling process is complete, and the scraper stops in response to the end-shoveling command.

[0060] As in the above process, for each step of lowering the boom, leveling the bucket, lifting the bucket, flipping the bucket, raising the boom, lifting the bucket at the same time, and flushing the shovel, the target state corresponding to the step includes the target position corresponding to the step; for the flushing shovel step, the target state corresponding to the step includes at least one of the target vehicle torque of the scraper, the target vehicle speed of the scraper, and the target position corresponding to the step.

[0061] Combining the above process Figure 2 The scraping process of a scraper is described. After acquiring the scraper's state and environmental data in step S11, the scraper determines the steps to be performed during the scraping process based on the state and environmental data, thereby determining the target state corresponding to the step. The scraper is then controlled to switch to the target state and begin scraping.

[0062] The present disclosure decomposes the shoveling process of the scraper into multiple steps, which not only improves the control accuracy of the scraper, but also helps to control the scraper according to the characteristics of these steps to fully improve the full bucket rate. Figure 2 The shoveling process of the scraper is described exemplarily, and the control process of controlling the scraper to improve the full bucket rate according to the characteristics of some steps in the shoveling process will be described later.

[0063] In step S15 , values ​​of a plurality of operating parameters of the scraper are determined according to the bucket fill rate model.

[0064] The full bucket rate is an important indicator for evaluating the effectiveness of the scraper's autonomous shoveling. The full bucket rate is the weight of the material actually shoveled by the scraper. Rated material weight of the scraper Fullness For example, it can be expressed by formula (1).

[0065] (1)

[0066] The higher the full bucket rate of the scraper's autonomous shoveling, the more practical the scraper is, which can reduce personnel requirements and improve safety during the shoveling process.

[0067] By breaking down the scraping process of the scraper into multiple steps, analyzing the characteristics of each step, and repeatedly performing autonomous scraping strategy delays, multiple operating parameters that have a significant impact on the bucket fill rate during the scraping process can be determined. In some embodiments, these multiple operating parameters include the bucket penetration depth. , bucket lifting angle , material density , vehicle shovel speed A bucket fill rate model is constructed based on these multiple operating parameters and used to control the scraper to improve the bucket fill rate.

[0068] In some embodiments, the full bucket rate model can be expressed by formula (2).

[0069] (2)

[0070] in, is the weight coefficient, is the error term.

[0071] By updating the weight coefficients based on the values ​​of the operating parameters in each of the multiple autonomous shoveling tests, the above weight parameters can be continuously optimized to determine the full bucket rate model.

[0072] The full bucket rate model has constraints, which are based on the bucket angle , boom angle , Scraper position ( ), Scraper speed The constraints can be expressed by formula (3).

[0073] (3)

[0074] That is, when determining the full bucket rate model, it is necessary to be subject to mechanical performance constraints (i.e., limitations on the angle range of the boom and bucket), working environment constraints (i.e., limitations on the position of the scraper, also known as the limitations of the work site), and safety constraints (i.e., limitations on the speed of the scraper vehicle).

[0075] According to the full bucket rate model, the values ​​of multiple operating parameters of the scraper can be determined by optimizing algorithms, etc., with maximizing the full bucket rate as the optimization goal.

[0076] The bucket fill rate model disclosed in this publication is determined based on multiple operating parameters that influence bucket fill rate, thus addressing the current issue of low bucket fill rates in controlled underground loaders. Applying this model to underground loaders can significantly improve the bucket fill rate during autonomous shoveling, reducing operating costs and significantly improving efficiency.

[0077] In some embodiments, after each autonomous shoveling is completed, that is, after the shoveling machine completes a shoveling process, the weight parameters in the full bucket rate model can be updated to optimize the full bucket rate model based on the actual shoveling effect, thereby achieving a better full bucket rate.

[0078] In other words, the bucket fill rate model indicates the relationship between the load rate of the scraper and multiple operating parameters. The weights of these operating parameters are determined based on the actual bucket fill rate of the scraper during the scraper's previous load. Furthermore, during the first load, the scraper can be controlled based on the bucket fill rate model determined from historical load tests.

[0079] In some embodiments, the above-mentioned control method also includes: determining whether to adjust the weight of at least one operating parameter in the full bucket rate model based on the actual full bucket rate of the last shoveling performed by the shovel loader and the expected full bucket rate of the last shoveling; in the case of determining to adjust the weight of at least one operating parameter in the full bucket rate model, making a first adjustment to the weights of multiple operating parameters in the full bucket rate model to determine the weights of the target operating parameters; and making a second adjustment to the weights of the target operating parameters in the full bucket rate model so that the expected full bucket rate of the adjusted full bucket rate model reaches the target value.

[0080] The expected bucket fill rate refers to the bucket fill rate determined by the values ​​of these operating parameters after they are determined. The actual bucket fill rate refers to the bucket fill rate actually achieved after the loader is controlled to perform the loader operation based on these operating parameters. The first adjustment is to determine the weight of the target operating parameter to be adjusted, and the second adjustment is to optimize the weight of the target operating parameter as much as possible.

[0081] In some embodiments, performing a first adjustment on the weights of multiple operating parameters in the fill rate model to determine the weight of the target operating parameter includes: performing a first adjustment on the weight of each operating parameter among the weights of the multiple operating parameters, and redetermining the expected fill rate of the fill rate model based on the weight of the operating parameter after the first adjustment; and determining the weight of the target operating parameter from the weights of the multiple operating parameters according to the redetermined expected fill rate corresponding to the weight of each operating parameter.

[0082] For example, the first adjustment process includes Increase and / or decrease the first value respectively, and determine the expected full load rate respectively in combination with the values ​​of multiple operating parameters at this time, including full load rate 1, full load rate 2, full load rate 3, and full load rate 4. When full load rate 3 is greater than the other three full load rates, determine the expected full load rate. Perform the second adjustment. The second adjustment process includes The second value is increased and / or decreased until the expected full bucket rate reaches the target value. Furthermore, the first value can be set to be greater than the second value to improve adjustment efficiency. The first and second adjustment processes are described here for exemplary purposes only. Each of the first and second adjustment processes can also include multiple adjustments or multiple values.

[0083] After the full bucket rate model is updated, the values ​​of the above-mentioned multiple operating parameters are re-determined through an optimization algorithm, so as to control the scraper to perform the current scraping process according to the values ​​of the multiple operating parameters.

[0084] When controlling the scraper to perform the current load, the fill rate model is updated based on the fill rate of the previous load and the values ​​of multiple operating parameters used in the previous load. This makes the fill rate model more suitable for the current load scenario and improves the fill rate of the current load. In other words, by continuously updating the fill rate model during the load, the fill rate can be fully improved.

[0085] In step S17 , a control signal for controlling the scraper to switch to a target state is determined according to the values ​​of the plurality of operating parameters.

[0086] As described above, the shoveling process includes multiple steps, each step having a corresponding target state. The multiple operating parameters described above correspond to some steps in the shoveling process, and the shovel loader is controlled according to the operating parameters in these steps.

[0087] In some embodiments, determining a control signal for controlling the scraper to achieve a target state based on the values ​​of multiple operating parameters includes: for each of the multiple steps, determining whether the step corresponds to the multiple operating parameters; for steps corresponding to the multiple operating parameters, determining a target operating mode for the step based on the values ​​of the operating parameters corresponding to the step; and determining a control signal for controlling the scraper to achieve the target state corresponding to the step based on the target operating mode for the step. For example, if the scraping step corresponds to the vehicle scraping speed, then when the scraper executes the scraping step, the control signal for controlling the vehicle scraping speed is determined based on the value of the vehicle scraping speed determined by the bucket fill rate model. For steps that do not correspond to the multiple operating parameters, the scraper is controlled to reach the target position corresponding to the step.

[0088] By determining the control signal for the scraper during the shoveling process using the values ​​of multiple operating parameters determined by the bucket full rate model according to the above process, the bucket full rate can be fully improved.

[0089] In step S19 , the flow rate in the hydraulic system of the scraper is controlled according to the control signal and the state data, so that the scraper completes the scraping process in response to switching to the target state.

[0090] The operation of a scraper is powered by the flow in its hydraulic system. Therefore, controlling the scraper's shoveling process is achieved by regulating the flow in the hydraulic system. For example, the scraper's hydraulic system includes hydraulic cylinders corresponding to the arm and bucket. Therefore, controlling the flow in the scraper's hydraulic system involves controlling the flow in both the hydraulic cylinders corresponding to the arm and bucket.

[0091] In some embodiments, the flow in the hydraulic system of the scraper loader includes the flow of the hydraulic cylinder corresponding to the boom of the scraper loader and the flow of the hydraulic cylinder corresponding to the bucket of the scraper loader. The control signal includes a position signal. According to the control signal and the status data, controlling the flow in the hydraulic system of the scraper loader includes: determining the current state of the boom and the current state of the bucket according to the status data; and controlling the flow of the hydraulic cylinder corresponding to the boom of the scraper loader and the flow of the hydraulic cylinder corresponding to the bucket of the scraper loader using the PID strategy according to the position signal, the current state of the boom and the current state of the bucket.

[0092] The control signal is used to control the scraper to switch to a target state. As described above, in some embodiments, the target state includes target positions corresponding to each step, and the control signal includes a position signal. Based on the scraper's state data and position signal, a PID strategy can be used to determine the flow rates of the hydraulic cylinders corresponding to the scraper's boom and bucket required to switch the scraper to the target state.

[0093] The current state of the boom includes the current angle of the boom and the current angular velocity of the boom, and the current state of the bucket includes the current angle of the bucket and the current angular velocity of the bucket. According to the position signal, the current state of the boom and the current state of the bucket, the PID strategy is used to control the flow of the hydraulic cylinder corresponding to the boom of the shovel loader and the flow of the hydraulic cylinder corresponding to the bucket of the shovel loader. The method includes: determining the target angle of the boom and the target angle of the bucket according to the position signal; determining the target angular velocity of the boom and the target angular velocity of the bucket according to the target angle of the boom, the current angle of the boom, the target angle of the bucket and the current angle of the bucket by using the PID strategy; determining the flow of the hydraulic cylinder corresponding to the boom and the flow of the hydraulic cylinder corresponding to the bucket according to the target angular velocity of the boom, the current angular velocity of the boom, the target angular velocity of the bucket and the current angular velocity of the bucket by using the PID strategy.

[0094] Specifically, for either the boom or bucket, the target angle can be inversely determined using the position signal. The first difference between the target angle and the current angle is then used as the input for the PID strategy, which then performs proportional-integral-differential (PID) processing to determine the target angular velocity. The second difference between the target angular velocity and the current angular velocity is then used as the input for the PID strategy, which then performs PID processing to determine the flow rate of the hydraulic cylinder.

[0095] The calculation formula of the PID strategy can be expressed by formula (4).

[0096] (4)

[0097] in, is the input of the PID strategy at time t, that is, the first difference or the second difference mentioned above. is the proportional gain coefficient, is the integral gain coefficient, is the differential gain coefficient, is the output target angular velocity or hydraulic cylinder flow rate. The target angular velocity of the boom, the target angular velocity of the bucket, the flow rate of the boom's hydraulic cylinder, and the flow rate of the bucket's hydraulic cylinder can all be determined using Equation (4). In other words, the above process includes two PID strategy executions: the first to determine the target angular velocity, and the second to determine the flow rate of the hydraulic cylinder. Furthermore, the result of the first PID strategy determination is used in the second PID strategy execution.

[0098] Figure 3 FIG. 1 shows a flow chart of PID control according to some embodiments of the present disclosure. Figure 3 As shown, PID control includes the following processes:

[0099] The inverse operation model is then inverted based on the position signal to determine the target angles for the boom and bucket. The difference between the target angle and the current angle is fed into a PID controller, which then outputs the target angular velocity for each arm and bucket. The difference between the target angular velocity and the current angular velocity is then fed into the PID controller to control the flow in each hydraulic cylinder, ensuring that the actual angular velocity of the arm and bucket reaches the target angular velocity. This control then controls the hydraulic cylinders to provide power and initiate the shoveling process.

[0100] The current and actual angular velocities of the boom and bucket are measured using angular velocity sensors. The sensor elements within these sensors accurately sense the object's rotational motion and convert it into an electrical signal. After a complex series of signal conditioning and conversion processes, the final output is an actual angular velocity value that accurately reflects the object's real-time rotational state.

[0101] The target angular velocity is output through the first PID control. During operation, the actual angular velocity obtained by the angular velocity sensor is continuously compared with the target angular velocity. The difference between the two serves as the key input data for the entire control process and is introduced into the second PID control. The first PID control can be implemented by the first PID controller, and the second PID control can be implemented by the second PID controller to ensure smooth control execution.

[0102] The PID controller is a classic and widely used control algorithm that performs proportional, integral, and differential operations on an input difference signal. The proportional phase quickly responds to changes in the input signal, outputting a control signal of varying strength based on the difference. The integral phase accumulates the difference over time to eliminate any potential steady-state errors. The differential phase calculates the rate of change of the difference to predict trends in advance, thereby enhancing stability and dynamic response.

[0103] After comprehensive calculations by the PID controller, the final output is a signal that precisely controls the flow rate in the hydraulic cylinder. This output signal is transmitted to the flow control valve, which adjusts the valve opening to precisely regulate the flow of fluid entering the hydraulic cylinder. As the flow rate within the hydraulic cylinder changes, the piston moves at the desired speed and direction, thus meeting the high-precision motion control requirements of the scraper.

[0104] The present invention uses two PID control processes to more accurately control a scraper to reach a target position. The method, when applied to a scraper, can improve the scraper's low control accuracy and oscillation during movement.

[0105] In some embodiments, steps S13-S17 may be performed by a state machine. Specifically, the state machine is configured to determine a target state for the scraper and a control signal for switching the scraper to the target state based on the scraper's state data, environmental data, and a bucket fill rate model. The control signal is then input into a PID controller.

[0106] This disclosure uses a state machine to control the shoveling operation of a scraper. Sensors provide feedback on the current operating status, enabling real-time monitoring of underground scraper information and feedback on optimal control parameters (i.e., the values ​​of the operating parameters during the current scraping process). This approach eliminates the need for manual operation of scrapers in underground scrapers. This reduces operator workload and improves efficiency and safety.

[0107] The present disclosure combines a bucket fill rate model, the scraper's status data, and environmental data to control the scraper during shoveling. The bucket fill rate model can be used to determine the values ​​of multiple operating parameters of the scraper, thereby controlling the scraper to shovel materials according to these multiple operating parameter values ​​during the shoveling process. This improves the control accuracy of the scraper and increases the scraper's bucket fill rate.

[0108] Figure 4 FIG2 shows a flow chart of a control method for a scraper according to other embodiments of the present disclosure. Figure 4 As shown, the control method in this embodiment includes steps S41 to S47.

[0109] In step S41, data information of the underground scraper is obtained and pre-processed, wherein the data information includes status data and environmental data.

[0110] Data preprocessing includes denoising, filtering and other preprocessing operations. The methods are not limited to Kalman filtering, mean filtering, wavelet filtering, median filtering, deep learning-based denoising methods, etc., to remove outliers and interference signals and improve the accuracy and reliability of the data.

[0111] In step S43, a bucket fill rate model is determined. During the initial shoveling process, the bucket fill rate model is derived from historical experiments. During non-initial shoveling processes, the bucket fill rate model is updated based on the bucket fill rate from the previous shoveling process.

[0112] In step S45 , a control signal for controlling the scraper is determined using the state machine.

[0113] In step S47, the flow rate in the hydraulic system of the scraper is controlled using a PID control strategy to control the scraper's scraping process. After the scraper completes the scraping process, the scraper's fill rate model is updated using the values ​​of multiple operating parameters in the fill rate model used by the scraper during the previous scraping process and the actual fill rate achieved, for use in the next scraping process.

[0114] Figure 5 FIG. 1 shows a schematic structural diagram of a control device for a scraper according to some embodiments of the present disclosure. Figure 5 As shown, the control device 5 of the scraper in this embodiment includes the following modules.

[0115] The acquisition module 51 is configured to acquire the status data and environmental data of the shovel loader; the first determination module 52 is configured to determine the target state of the shovel loader during the shoveling process based on the status data and environmental data; the second determination module 53 is configured to determine the values ​​of multiple operating parameters of the shovel loader based on the full bucket rate model; the third determination module 54 is configured to determine the control signal for controlling the shovel loader to switch to the target state based on the values ​​of the multiple operating parameters; the control module 55 is configured to control the flow in the hydraulic system of the shovel loader based on the control signal and status data, so that the shovel loader completes the shoveling process in response to switching to the target state.

[0116] In some embodiments, the bucket fill rate model is used to indicate the correlation between the bucket fill rate of the scraper and multiple operating parameters, and the weights corresponding to the multiple operating parameters are determined based on the actual bucket fill rate of the scraper when the scraper performed the last shoveling.

[0117] In some embodiments, the control device 5 of the shovel loader is also configured to determine whether to adjust the weight of at least one operating parameter in the full bucket rate model based on the actual full bucket rate of the last shoveling performed by the shovel loader and the expected full bucket rate of the last shoveling; in the case of determining to adjust the weight of at least one operating parameter in the full bucket rate model, perform a first adjustment on the weights of multiple operating parameters in the full bucket rate model to determine the weights of the target operating parameters; and perform a second adjustment on the weights of the target operating parameters in the full bucket rate model so that the expected full bucket rate of the adjusted full bucket rate model reaches the target value.

[0118] In some embodiments, the control device 5 of the shovel loader is also configured to make a first adjustment to the weight of each operating parameter among the weights of multiple operating parameters, and redetermine the expected full bucket rate of the full bucket rate model based on the weight of the operating parameter after the first adjustment; and determine the weight of the target operating parameter from the weights of multiple operating parameters based on the redetermined expected full bucket rate corresponding to the weight of each operating parameter.

[0119] In some embodiments, the plurality of operating parameters include at least one of a bucket penetration depth, a bucket lift angle, a material density, and a vehicle shovel speed.

[0120] In some embodiments, the bucket fill rate model has constraints, and the constraints are determined based on the range of bucket angle, boom angle, scraper position, and scraper speed.

[0121] In some embodiments, the flow in the hydraulic system of the scraper loader includes the flow of the hydraulic cylinder corresponding to the boom of the scraper loader and the flow of the hydraulic cylinder corresponding to the bucket of the scraper loader, and the control signal includes a position signal. The control module 55 is configured to determine the current state of the boom and the current state of the bucket based on the state data; based on the position signal, the current state of the boom and the current state of the bucket, the proportional integral differential PID strategy is used to control the flow of the hydraulic cylinder corresponding to the boom of the scraper loader and the flow of the hydraulic cylinder corresponding to the bucket of the scraper.

[0122] In some embodiments, the current state of the boom includes the current angle of the boom and the current angular velocity of the boom, and the current state of the bucket includes the current angle of the bucket and the current angular velocity of the bucket. The control module 55 is configured to determine the target angle of the boom and the target angle of the bucket based on the position signal; determine the target angular velocity of the boom and the target angular velocity of the bucket using the PID strategy based on the target angle of the boom, the current angle of the boom, the target angle of the bucket, and the current angle of the bucket; determine the flow rate of the hydraulic cylinder corresponding to the boom and the flow rate of the hydraulic cylinder corresponding to the bucket using the PID strategy based on the target angular velocity of the boom, the current angular velocity of the boom, the target angular velocity of the bucket, and the current angular velocity of the bucket.

[0123] In some embodiments, the shoveling process includes multiple steps, each step has a corresponding target state, and the third determination module 54 is configured to determine, for each of the multiple steps, whether the step corresponds to multiple operating parameters; for steps corresponding to multiple operating parameters, determine the target operating mode of the step according to the values ​​of the operating parameters corresponding to the step; and based on the target operating mode of the step, determine a control signal for controlling the shovel loader to achieve the target state corresponding to the step.

[0124] In some embodiments, the multiple steps include lowering the boom, leveling the bucket, shoveling, lifting the bucket, flipping the bucket, raising the boom, and lifting the bucket and shoveling at the same time, and the lifting bucket, flipping the bucket, and raising the boom are performed multiple times in a cycle until the scraper reaches the specified position, and then the bucket and shovel are lifted simultaneously.

[0125] In some embodiments, for each step of lowering the boom, leveling the bucket, lifting the bucket, flipping the bucket, raising the boom, lifting the bucket and flushing the shovel at the same time, the target state corresponding to the step includes the target position corresponding to the step; for the flushing shovel step, the target state corresponding to the step includes at least one of the target vehicle torque of the loader, the target vehicle speed of the loader, and the target position corresponding to the step.

[0126] In some embodiments, the status data includes at least one of the current angle of the loader's boom, the current angular velocity of the boom, the current angle of the bucket, the current angular velocity of the bucket, the throttle control information of the loader, and the speed of the loader; the environmental data includes at least one of the position of the loader and the position of the material.

[0127] In some embodiments, the state data is acquired using sensors mounted on the scraper; and the environmental data is acquired using at least one of a camera and a lidar mounted on the scraper.

[0128] The present disclosure combines a bucket fill rate model, the scraper's status data, and environmental data to control the scraper during shoveling. The bucket fill rate model can be used to determine the values ​​of multiple operating parameters of the scraper, thereby controlling the scraper to shovel materials according to these multiple operating parameter values ​​during the shoveling process. This improves the control accuracy of the scraper and increases the scraper's bucket fill rate.

[0129] The control device of the scraper in the embodiment of the present disclosure can be implemented by various computing devices or computer systems. Figure 6 as well as Figure 7 Provide a description.

[0130] Figure 6 FIG. 1 shows a schematic structural diagram of a control device for a scraper according to other embodiments of the present disclosure. Figure 6As shown, the apparatus 5 of this embodiment includes a memory 61 and a processor 62 coupled to the memory 61. The processor 62 is configured to execute the control method for a scraper according to any of the embodiments of the present disclosure based on instructions stored in the memory 61. The memory 61 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, a database, and other programs.

[0131] Figure 7 FIG. 1 shows a schematic structural diagram of a control device for a scraper according to some other embodiments of the present disclosure. Figure 7 As shown, the device 5 of this embodiment includes: a memory 71 and a processor 72, which are similar to the memory 61 and processor 62, respectively. It may also include an input / output interface 73, a network interface 74, a storage interface 75, etc. These interfaces 73, 74, 75, as well as the memory 71 and the processor 72, can be connected, for example, via a bus 76. The input / output interface 73 provides a connection interface for input / output devices such as a display, mouse, keyboard, and touch screen. The network interface 74 provides a connection interface for various networked devices, such as a database server or a cloud storage server. The storage interface 75 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0132] Figure 8 FIG. 1 shows a schematic diagram of a control system for a scraper according to some embodiments of the present disclosure. Figure 8 As shown, the control system 8 of this embodiment includes the control device 5 as described above, and a scraper 81. In some embodiments, the scraper is equipped with sensors configured to obtain status data of the scraper; cameras and laser radars configured to obtain environmental data.

[0133] Figure 9 FIG. 1 shows a schematic diagram of a control system for a scraper according to other embodiments of the present disclosure. Figure 9 As shown, the control system 8 of this embodiment includes a sensor module 91, which is configured to provide status data of the scraper to the controller module 93; an industrial computer module 92, which is configured to determine the control signal for the scraper to perform the scraping process according to the status data provided by the controller module 93; the controller module 93, which is configured to control the flow in the hydraulic system of the scraper according to the control signal; and a hydraulic execution module 94, which is configured to provide power to the scraper.

[0134] The sensor module 91 and the controller module 93 can communicate with each other via a Controller Area Network (CAN). The controller module 93 and the industrial computer module 92 can communicate with each other via a Robot Operating System (ROS).

[0135] Embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, characterized in that when executed by a processor, the program implements any of the aforementioned methods for controlling a scraper. Embodiments of the present disclosure further provide a computer program product comprising instructions that, when executed by a processor, cause the processor to perform any of the aforementioned methods for controlling a scraper.

[0136] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable, non-transitory storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0137] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0139] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for controlling a scraper, comprising: Acquiring status data and environmental data of the scraper; determining a target state of the scraper during the scraping process according to the state data and the environmental data; Determining values ​​of a plurality of operating parameters of the scraper according to a bucket fill rate model; determining, based on the values ​​of the plurality of operating parameters, a control signal for controlling the scraper to switch to the target state; The flow rate in the hydraulic system of the scraper is controlled according to the control signal and the state data, so that the scraper completes the scraping process in response to switching to the target state.

2. The control method according to claim 1, wherein: The bucket fill rate model is used to indicate the correlation between the bucket fill rate of the scraper and the multiple operating parameters. The weights corresponding to the multiple operating parameters are determined according to the actual bucket fill rate of the scraper when it shovels materials last time.

3. The control method according to claim 2, further comprising: determining whether to adjust a weight of at least one operating parameter in the bucket fill rate model according to an actual bucket fill rate of a last shoveling operation performed by the scraper and an expected bucket fill rate of the last shoveling operation; In a case where it is determined to adjust the weight of at least one operating parameter in the fill rate model, performing a first adjustment on the weights of multiple operating parameters in the fill rate model to determine a weight of a target operating parameter; A second adjustment is performed on the weight of the target operating parameter in the full load rate model so that the expected full load rate of the adjusted full load rate model reaches the target value.

4. The control method according to claim 3, wherein: The first adjustment of the weights of the plurality of operating parameters in the full load rate model to determine the weights of the target operating parameters includes: performing a first adjustment on the weight of each operating parameter among the weights of the plurality of operating parameters, and re-determining the expected fill rate of the fill rate model based on the weight of the operating parameter after the first adjustment; The weight of the target operating parameter is determined from the weights of the plurality of operating parameters according to the re-determined expected full bucket rate corresponding to the weight of each operating parameter.

5. The control method according to any one of claims 1 to 4, wherein: The plurality of operating parameters include at least one of a bucket cutting depth, a bucket lifting angle, a material density, and a vehicle shoveling speed.

6. The control method according to claim 5, wherein: The bucket fill rate model has constraints, and the constraints are determined according to the range of bucket angle, boom angle, scraper position, and scraper speed.

7. The control method according to claim 1, wherein: The flow rate in the hydraulic system of the scraper includes the flow rate of the hydraulic cylinder corresponding to the boom of the scraper and the flow rate of the hydraulic cylinder corresponding to the bucket of the scraper. The control signal includes a position signal. Controlling the flow rate in the hydraulic system of the scraper according to the control signal and the status data includes: Determining a current state of the boom and a current state of the bucket according to the state data; According to the position signal, the current state of the boom, and the current state of the bucket, a proportional integral differential (PID) strategy is used to control the flow of the hydraulic cylinder corresponding to the boom of the scraper and the flow of the hydraulic cylinder corresponding to the bucket of the scraper.

8. The control method according to claim 7, wherein: The current state of the boom includes a current angle of the boom and a current angular velocity of the boom, and the current state of the bucket includes a current angle of the bucket and a current angular velocity of the bucket. Controlling the flow of the hydraulic cylinder corresponding to the boom of the scraper and the flow of the hydraulic cylinder corresponding to the bucket of the scraper using a PID strategy based on the position signal, the current state of the boom, and the current state of the bucket includes: determining a target angle of the boom and a target angle of the bucket according to the position signal; Determining the target angular velocity of the boom and the target angular velocity of the bucket using a PID strategy according to the target angle of the boom, the current angle of the boom, the target angle of the bucket, and the current angle of the bucket; The flow rate of the hydraulic cylinder corresponding to the boom and the flow rate of the hydraulic cylinder corresponding to the bucket are determined using a PID strategy based on the target angular velocity of the boom, the current angular velocity of the boom, the target angular velocity of the bucket, and the current angular velocity of the bucket.

9. The control method according to claim 1, wherein: The shoveling process includes multiple steps, each step has a corresponding target state, and determining a control signal for controlling the shovel loader to achieve the target state according to the values ​​of the multiple operating parameters includes: for each of the plurality of steps, determining whether the step corresponds to the plurality of operating parameters; For steps corresponding to the plurality of operating parameters, determining a target operating mode for the step according to values ​​of the operating parameters corresponding to the step; Based on the target operating mode of the step, a control signal for controlling the scraper to achieve the target state corresponding to the step is determined.

10. The control method according to claim 9, wherein: The multiple steps include lowering the boom, leveling the bucket, shoveling, lifting the bucket, flipping the bucket, raising the boom, and lifting the bucket and shoveling at the same time, and the steps of lifting the bucket, flipping the bucket, and raising the boom are performed multiple times in a cycle until the scraper reaches the specified position, and then the bucket and shovel are lifted simultaneously.

11. The control method according to claim 10, wherein: For each step of lowering the boom, leveling the bucket, raising the bucket, flipping the bucket, raising the boom, and simultaneously raising the bucket and flushing the shovel, the target state corresponding to the step includes a target position corresponding to the step; For the scraping step, the target state corresponding to the step includes at least one of a target vehicle torque of the scraper, a target vehicle speed of the scraper, and a target position corresponding to the step.

12. The control method according to claim 1, wherein: The state data includes at least one of a current angle of the arm of the scraper, a current angular velocity of the arm, a current angle of the bucket, a current angular velocity of the bucket, throttle control information of the scraper, and a speed of the scraper; The environmental data includes at least one of a location of the scraper and a location of the material.

13. The control method according to claim 12, wherein: The status data is obtained by using a sensor installed on the scraper; The environmental data is acquired using at least one of a camera and a lidar installed on the loader.

14. A control device for a scraper, comprising: an acquisition module configured to acquire status data and environmental data of the scraper; a first determining module configured to determine a target state of the scraper during the scraping process based on the state data and the environmental data; A second determining module is configured to determine values ​​of a plurality of operating parameters of the scraper according to a bucket fill rate model; a third determining module configured to determine, based on the values ​​of the plurality of operating parameters, a control signal for controlling the scraper to switch to the target state; The control module is configured to control the flow in the hydraulic system of the scraper according to the control signal and the state data, so that the scraper completes the scraping process in response to switching to the target state.

15. A control device for a scraper, comprising: processor; as well as A memory coupled to the processor is used to store instructions, and when the instructions are executed by the processor, the processor is caused to perform the control method according to any one of claims 1 to 13.

16. A control system for a scraper, comprising: The control device according to claim 14 or 15, scraper.

17. The control system according to claim 16, wherein: The scraper is equipped with: a sensor configured to obtain status data of the scraper; Cameras and lidars are configured to acquire environmental data.

18. A computer-readable storage medium having computer instructions stored thereon, wherein: When the instruction is executed by a processor, the control method according to any one of claims 1 to 13 is implemented.

19. A computer program product comprising instructions which, when executed by a processor, cause the processor to perform the control method according to any one of claims 1 to 13.

Images