A TBOX-based remote control method and system for walking of a excavator

Abstract

The application belongs to the field of engineering machines and provides a TBOX-based remote control method for the walking of a excavator, which solves the problem of the inability to interlock the control of the working device posture and walking condition of the excavator, and improves the safety of the walking of the excavator, and the technical scheme is as follows: angle data of a swing arm, a bucket rod and a bucket of the excavator are acquired respectively; the angle data is compared with preset range data to determine whether the posture of the excavator meets the walking condition; if the walking condition is met, obstacle detection is performed and a control instruction is executed; if the walking condition is not met, the swing arm, the bucket rod and the bucket are adjusted so that the angle data is within the preset range; then obstacle detection is performed and a control instruction is executed, and the obstacle detection is graded in response to the distance of the obstacle.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery, and in particular relates to a remote control method and system for excavator movement based on TBOX. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, excavators are heavy-duty construction machinery that primarily use the bucket at the front of the robotic arm to excavate, transport, and load materials such as soil, rock, and construction waste. They are one of the core pieces of equipment for improving efficiency in engineering construction. The core structure of an excavator consists of three parts: the working device, the upper body (turntable), and the lower traveling mechanism. These parts work together to achieve the desired operational functions.

[0004] The working device of an excavator mainly includes the boom, stick, and bucket. When the excavator is moving, the position and posture of the bucket will have a variety of adverse effects on it, as follows: If the bucket is not fully retracted during travel (e.g., the bucket touches the ground or is excessively overhanging), the bucket will collide with the ground, rocks, and other obstacles when the excavator travels on uneven terrain, generating rigid impacts. These impacts are transmitted through the boom and arm to the bucket's hinge point, teeth, and body. Over time, this can lead to broken teeth, bucket deformation, and even bent boom cylinder piston rods. Furthermore, the friction between the tracks or tires and the ground generates continuous vibrations. If the bucket is not retracted (e.g., semi-suspended), its own weight will resonate with these vibrations, causing accelerated wear on the connecting pins and bushings between the bucket and boom, and loosening of bolts. In the long run, this may result in abnormal pin noises, increased clearance, and even the risk of the bucket falling off.

[0005] The bucket is the "load-bearing component" of an excavator. If the bucket extends too far when the machine is moving, it will cause the machine's center of gravity to shift forward or to one side, reducing lateral and longitudinal stability. When traveling on slopes, making sharp turns, or on soft ground, the machine is very prone to tipping over due to loss of balance, especially small excavators (which are lighter in weight), where the risk is even more pronounced.

[0006] It is evident that the posture of the excavator's working device is crucial to ensuring its safe movement. However, there is currently no interlocking control scheme between the posture of the excavator's working device and its movement conditions, resulting in high safety risks for excavator movement. Summary of the Invention

[0007] In order to solve at least one of the technical problems existing in the background art, the first aspect of the present invention provides a remote control method for excavator travel based on TBOX, which first determines whether the posture of the working device meets the conditions for safe travel based on the angle data of the working device, and can also automatically adjust the posture to make the posture meet the conditions for safe travel.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A remote control method for excavator movement based on TBOX includes the following steps: Obtain the angle data of the excavator's boom, stick, and bucket respectively; The angle data is compared with the preset range data to determine whether the excavator's posture meets the walking conditions. If the walking conditions are met, obstacle detection is performed and control commands are executed; If the walking conditions are not met, the boom, stick, and bucket are adjusted to bring the angle data within the preset range; then obstacle detection is performed and control commands are executed. The obstacle detection responds in stages based on the distance to the obstacle.

[0009] As a further technical solution, the angle data includes boom angle data, stick angle data, and bucket angle data.

[0010] As a further technical solution, the vehicle controller compares the boom angle data, stick angle data, and bucket angle with the corresponding preset range data. If all angle data are within the preset range data, it is determined that the excavator posture meets the walking conditions; if one or more angle data are not within the preset range data, it is determined that the excavator posture does not meet the walking conditions.

[0011] As a further technical solution, the adjustment of the boom, stick, and bucket is achieved through an automatic adjustment algorithm. Specifically, the angle adjustment amount of each joint of the boom, stick, and bucket and the output opening of the hydraulic valve are calculated. The controller outputs the opening to the hydraulic valve, and automatically controls each joint to adjust the angle to within the set range data. The specific formula for the angle adjustment amount is:

[0012] in, For angle adjustment amount, Angle error = target angle - current angle This is the proportional gain coefficient. This is the integral gain coefficient. The differential gain coefficient, For time.

[0013] As a further technical solution, the hydraulic valve output opening degree is calculated as follows: : when >0:

[0014] when <0:

[0015] in, For angle adjustment amount, It is a saturation function. For the maximum positive travel, This represents the maximum negative travel distance.

[0016] As a further technical solution, obstacle detection is performed using Euclidean clustering.

[0017] To address the aforementioned problems, a second aspect of the present invention provides a TBOX-based remote control system for excavator movement, applying a TBOX-based remote control method for excavator movement as provided in the first aspect, comprising: The angle data acquisition module is configured to acquire the angle data of the excavator's boom, stick, and bucket, respectively. The attitude determination module is configured to compare the angle data with preset range data to determine whether the excavator's attitude meets the walking conditions. The walking condition judgment module is configured to: if the walking conditions are met, perform obstacle detection and execute control commands; if the walking conditions are not met, adjust the boom, stick, and bucket to make the angle data within a preset range; then perform obstacle detection and execute control commands again, with the obstacle detection responding in stages based on the distance of the obstacle.

[0018] To address the aforementioned problems, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a TBOX-based remote control method for excavator movement as described in the first aspect of the present invention.

[0019] To address the aforementioned problems, a fourth aspect of the present invention provides a computer program product comprising a computer program / instructions that, when executed by a processor, implement the steps of a TBOX-based remote control method for excavator movement as described in the first aspect of the present invention.

[0020] To address the aforementioned problems, a fifth aspect of the present invention provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a TBOX-based remote control method for excavator movement as described in the first aspect of the present invention.

[0021] The beneficial effects of this invention are: This invention first determines whether the posture of the working device meets the conditions for safe travel based on the angle data of the working device, and can also automatically adjust the posture to meet the conditions for safe travel. This realizes the interlocking control of the excavator's working device posture and travel condition judgment, and improves the safety of excavator travel.

[0022] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0024] Figure 1 This is a schematic diagram of the overall scheme of the excavator travel remote control method based on TBOX of the present invention; Figure 2 This is a control flowchart of the excavator travel remote control method based on TBOX according to the present invention; Figure 3 This is a structural diagram of the excavator travel remote control system based on TBOX according to the present invention. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0029] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0030] Terminology Explanation: 1. TBOX is short for Telematics Box, which is an in-vehicle telematics control unit and a key intelligent terminal device in the Internet of Vehicles system. It connects the in-vehicle CAN bus to an external cloud platform to realize communication and data exchange between vehicles, between vehicles and infrastructure, and between vehicles and the Internet.

[0031] Example 1 This embodiment provides a remote control method for excavator movement based on TBOX, such as... Figure 1 As shown, it includes the following steps: Step 1: Obtain the angle data of the excavator's boom, stick, and bucket respectively.

[0032] In a specific implementation, the angle data includes boom angle data, stick angle data, and bucket angle data. A change in the boom angle will cause a change in the stick and bucket angles, and a change in the stick angle will cause a change in the bucket angle. Therefore, the order of adjusting the excavator's working device posture is boom, stick, and bucket in sequence.

[0033] An angle sensor is installed on the boom, stick, and bucket respectively. The three sensors are used to acquire boom angle data, stick angle data, and bucket angle data, and transmit the acquired data to the vehicle controller in real time.

[0034] Step 2: Compare the angle data with the preset range data to determine whether the excavator's posture meets the walking conditions.

[0035] In a specific implementation, the vehicle controller compares the boom angle data, stick angle data, and bucket angle with the corresponding preset range data. If all angle data are within the preset range data, it is determined that the excavator posture meets the walking conditions; if one or more angle data are not within the preset range data, it is determined that the excavator posture does not meet the walking conditions.

[0036] Step 3: If the walking conditions are met, obstacle detection is performed and control commands are executed; if the walking conditions are not met, the boom, stick, and bucket are adjusted so that the angle data is within the preset range; then obstacle detection is performed again and control commands are executed. The obstacle detection responds in stages according to the distance of the obstacle.

[0037] Step 3.1: Adjustments to the boom, stick, and bucket are achieved through an automatic adjustment algorithm (PID control), specifically: The system calculates the angle adjustment amount of each joint of the boom, stick, and bucket, as well as the output opening of the hydraulic valves. The controller outputs the opening to the hydraulic valves, automatically controlling each joint to adjust its angle to within the set range.

[0038] The specific formula for the angle adjustment amount is: (1) For angle adjustment amount, Angle error = target angle - current angle This is the proportional gain coefficient. This is the integral gain coefficient. The differential gain coefficient, For time.

[0039] The formula for calculating the proportional gain coefficient is: (2) in, The system time constant is the time required for the system to reach 63.2% of its final change from the start of its response. Measurement method: Apply a step input to the hydraulic valve (valve opening from 0% to 50%), record the boom angle change curve, and calculate the time from the start of the response until the angle change reaches 63.2% of the total change.

[0040] The final change of 63.2% comes from the first-order system response model. This change is the key turning point in the system response from the initial state to the steady state, which is clearly visible on the response curve and corresponds to the physical definition of the time constant τ.

[0041] The system open-loop gain is the ratio of the change in input to the change in output. = Angle change / Valve opening change (3) in, The angle change and valve opening change used in the calculation are the measured values ​​of the system response; the PID output... and It is the expected value calculated by the controller.

[0042] Measurement method: Increase the valve opening by 20%, measure the change in angle after stabilization, and calculate. .

[0043] The system's pure time delay is the time delay from a change in input to the system's response. ; Measurement method: Record the time of valve opening change. Record the moment when the angle begins to change. ,calculate .

[0044] Integral gain coefficient The calculation method is as follows: (4) This is the proportional gain coefficient. The integration time constant is the time scale required to eliminate steady-state error. , This is the pure time delay of the system.

[0045] proportional gain coefficient The calculation method is as follows: (5) This is the proportional gain coefficient. This is the pure time delay of the system.

[0046] Calculate the hydraulic valve output opening as V: when >0: (6) when <0: (7) in, For angle adjustment amount, It is a saturation function. For the maximum positive travel, This represents the maximum negative travel distance.

[0047] Saturation function The calculation method is as follows: (8) The remaining space from the current angle to the safety limit: (9) To ensure the upper limit of the safe angle, From the current practical perspective.

[0048] The remaining space from the current angle to the safety lower bound: (10) As a safety lower limit, From the current practical perspective.

[0049] Step 4.2: Perform obstacle detection and execute control commands. Obstacle detection provides a graded response based on the distance to obstacles. Specifically... 3.2.1: Obstacle detection and distance calculation.

[0050] The camera is used to acquire images of the environment surrounding the excavator and transmit these images to the vehicle controller. The vehicle controller preprocesses the acquired images, including image distortion correction. Specifically: (11) in, , Radial distortion coefficient (obtained through calibration); The distance from a pixel to the center of the image; Eliminate lens distortion (the larger the camera's field of view, the more severe the image distortion) and ensure matching accuracy; the corrected coordinates are used to accurately calculate 3D position.

[0051] The core formula for binocular ranging yields the actual distance. : (12) in, The camera focal length (in pixels) is obtained through calibration. = (image width / 2) / (Horizontal field of view / 2) The distance between the left and right cameras (in millimeters). The difference in horizontal displacement between the matching points in the left and right images. =Pixels in the left image Coordinates - Matching points in the right figure coordinate.

[0052] 3.2.2: Obstacle Detection: Obstacle detection using Euclidean clustering. Points with a spacing less than the threshold D are grouped into the same object. Size and center calculation: Euclidean clustering can be used to distinguish different obstacles. Setting different thresholds according to different working conditions can ensure that small obstacles (such as tool kits) are not ignored or to avoid the accidental merging of adjacent obstacles.

[0053] (13) (14) 4.2.3: A four-level response is implemented based on the distance to obstacles. Level 1 response: When The app will vibrate to alert you when this happens.

[0054] Level 2 response: When Speed ​​reduced by 50%.

[0055] Level 3 response: When Stop walking.

[0056] Level 4 response: When Emergency braking with audible and visual alarms.

[0057] in, This is the value of braking distance plus safety margin.

[0058] like Figure 2 As shown, three sensors installed on the boom, stick, and bucket acquire real-time angle data of the boom, stick, and bucket, and transmit all angle data to the vehicle controller. The vehicle controller communicates with the TBOX, which receives control commands sent by the APP and forwards them to the vehicle controller. The vehicle controller first determines whether the angle data sent by the sensors is within the set range (meeting the safe travel angle range). If it is within the set range, obstacle detection is activated and the control command is executed. If it is not within the set safe range, the boom, stick, and bucket are automatically adjusted to the set range before obstacle detection is activated and the control command is executed. Obstacle detection provides graded responses based on the distance to the obstacle.

[0059] It is understood that in other embodiments, the range data can be set by those skilled in the art according to the specific working conditions, which will not be described in detail here.

[0060] Example 2 This embodiment provides a TBOX-based remote control system for excavator movement, employing a TBOX-based remote control method for excavator movement from the first embodiment, such as... Figure 3 As shown, it includes: The angle data acquisition module is configured to acquire the angle data of the excavator's boom, stick, and bucket, respectively. The attitude determination module is configured to compare the angle data with preset range data to determine whether the excavator's attitude meets the walking conditions. The walking condition judgment module is configured to: if the walking conditions are met, perform obstacle detection and execute control commands; if the walking conditions are not met, adjust the boom, stick, and bucket to make the angle data within a preset range; then perform obstacle detection and execute control commands again, with the obstacle detection responding in stages based on the distance of the obstacle.

[0061] Example 3 This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the TBOX-based excavator travel remote control method described above.

[0062] Example 4 A computer program product includes a computer program / instructions that, when executed by a processor, implement the steps of the TBOX-based excavator travel remote control method described above.

[0063] Example 5 This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the above-described TBOX-based remote control method for excavator movement.

[0064] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0065] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A remote control method for excavator movement based on TBOX, characterized in that, Includes the following steps: Obtain the angle data of the excavator's boom, stick, and bucket respectively; The angle data is compared with the preset range data to determine whether the excavator's posture meets the walking conditions. If the walking conditions are met, obstacle detection is performed and control commands are executed; If the walking conditions are not met, the boom, stick, and bucket are adjusted to bring the angle data within the preset range; then obstacle detection is performed and control commands are executed. The obstacle detection responds in stages based on the distance to the obstacle. Adjustments to the boom, stick, and bucket are achieved through an automatic adjustment algorithm. Specifically: the algorithm calculates the angle adjustment amount of each joint in the boom, stick, and bucket, as well as the hydraulic valve output opening. The controller outputs the opening to the hydraulic valve, automatically controlling each joint to adjust its angle to within the set range. The specific formula for the angle adjustment amount is as follows: in, For angle adjustment amount, Angle error = target angle - current angle This is the proportional gain coefficient. This is the integral gain coefficient. The differential gain coefficient, For time; Calculate the output opening of the hydraulic valve as follows: : when >0: when <0: in, For angle adjustment amount, It is a saturation function. For the maximum positive travel, This represents the maximum negative travel distance.

2. The remote control method for excavator movement based on TBOX as described in claim 1, characterized in that, The angle data includes boom angle data, stick angle data, and bucket angle data.

3. The remote control method for excavator movement based on TBOX as described in claim 1, characterized in that, The vehicle controller compares the boom angle data, stick angle data, and bucket angle data with the corresponding preset range data. If all angle data are within the preset range data, it is determined that the excavator posture meets the walking conditions; if one or more angle data are not within the preset range data, it is determined that the excavator posture does not meet the walking conditions.

4. The method for remote control of excavator movement based on TBOX as described in claim 1, characterized in that, Obstacle detection is performed using Euclidean clustering.

5. A remote control system for excavator travel based on a TBOX, comprising a remote control method for excavator travel based on a TBOX as described in any one of claims 1-4, characterized in that, include: The angle data acquisition module is configured to acquire the angle data of the excavator's boom, stick, and bucket, respectively. The attitude determination module is configured to compare the angle data with preset range data to determine whether the excavator's attitude meets the walking conditions. The walking condition judgment module is configured to: if the walking conditions are met, perform obstacle detection and execute control commands; If the walking conditions are not met, the boom, stick, and bucket are adjusted to bring the angle data within the preset range; then obstacle detection is performed and control commands are executed. The obstacle detection responds in stages based on the distance to the obstacle.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the TBOX-based remote control method for excavator movement as described in any one of claims 1-4.

7. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps in the TBOX-based remote control method for excavator movement as described in any one of claims 1-4.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the TBOX-based remote control method for excavator movement as described in any one of claims 1-4.

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