Structure simulation method, structure simulation device, work machine, and medium

Abstract

The embodiment of the invention provides a structure simulation method, a structure simulation device, an operation machine and a medium, and belongs to the technical field of operation machines. The method comprises the steps that based on structure parameters and target pose parameters of an operation machine, a first model of the operation machine is constructed, and the first model comprises at least two reference planes with spatial position correlation; based on the reference plane in the first model, the working device state of the working machine in the first model is updated, and the working device state is determined by the structure vector and the included angle corresponding to the working device; at least one function key point is set in the updated first model, a second model is obtained, and the function key points comprise follow-up key points which change along with the movement of a single moving part in the operation machine and / or constraint key points which do not change along with the movement of the single moving part; and performing motion structure simulation of the working machine based on the second model. The system can adapt to the real-time operation and simulation intelligent scene of the operation machinery.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, specifically to a structural simulation method, a structural simulation device, construction machinery, and a medium. Background Technology

[0002] In the field of construction machinery, intelligent scenarios such as weighing, anti-tipping, and electronic fencing of construction machinery require structural motion simulation that balances real-time performance, low platform dependence, scalability, and high-precision calculation. Existing mainstream simulation methods each have their limitations: ADAMS can simulate complex mechanical structures and motions with high accuracy, but its slow computing speed makes it difficult to support real-time scenarios; finite element analysis excels at obtaining stress distribution and deformation under working conditions, but it only focuses on mechanical properties and cannot cover the comprehensive requirements of "structural motion + scenario adaptation"; MATLAB / Simulink combined with ROS focuses on control and simulation, and can achieve partial visualization with the Unity physics engine, but it has strong platform dependence and low modularity, making it difficult to quickly adapt to different intelligent scenarios.

[0003] Overall, existing technologies are unable to simultaneously meet the five core requirements of high computing speed, good cross-platform compatibility, modular design, lightweight, and ease of use, resulting in an inability to effectively adapt to the real-time operation and intelligent simulation scenarios of machinery. Summary of the Invention

[0004] The purpose of this application is to provide a structural simulation method, a structural simulation device, a working machine, and a medium to solve the problem that existing simulation methods cannot effectively adapt to the real-time operation of working machines and the intelligent simulation scenarios.

[0005] In a first aspect, embodiments of this application provide a structural simulation method, the method comprising:

[0006] Based on the structural parameters and target pose parameters of the operating machinery, a first model of the operating machinery is constructed. The first model includes at least two reference planes with spatial positional correlation, and the first structural point is determined based on the structural parameters of the operating machinery.

[0007] Based on the reference plane in the first model, the working device state of the operating machinery in the first model is updated. The working device state is used to define the pose of the working device in space and is determined by the structural vector and included angle corresponding to the working device.

[0008] In the updated first model, at least one functional key point is set to obtain the second model. The functional key point includes a follow-up key point that changes with the movement of a single moving part in the working machine, and / or a constraint key point that does not change with the movement of a single moving part.

[0009] Based on the second model, the motion structure simulation of the operating machinery is performed.

[0010] Optionally, setting at least one functional key point in the updated first model includes:

[0011] When the functional key point is a follow-up key point and is located on the chassis plane, the normal vector, the forward vector and the lateral vector of the chassis plane are determined as the first basis vectors. The forward vector of the chassis is determined based on the forward midpoint of the chassis of the working machine, and the lateral vector of the chassis is determined based on the lateral midpoint of the chassis of the working machine.

[0012] The position of the follow-up key point in the updated first model is determined by the ratio of the first basis vector to the chassis of the operating machinery.

[0013] Optionally, setting at least one functional key point in the updated first model includes:

[0014] When the functional key point is a follow-up key point and is located on the working device plane, the normal vector of the working device plane, the structural vector corresponding to the working device, and the vector perpendicular to the structural vector are determined as the second basis vector;

[0015] The position of the follow-up key point in the updated first model is determined by the ratio of the second basis vector to the chassis of the operating machinery.

[0016] Optionally, setting at least one functional key point in the updated first model includes:

[0017] When the functional key point is a constraint key point, constraint equations are established based on the geometric constraint relationships of the linkage mechanism in the working device of the operating machinery.

[0018] Solve the constraint equations to obtain the spatial coordinates of the constraint key points;

[0019] The obtained spatial coordinates are used as the positions of the constraint key points in the updated first model.

[0020] Optionally, setting at least one functional key point in the updated first model to obtain the second model includes:

[0021] When the simulation scenario is an electronic fence scenario or a one-click slope brushing scenario, the aforementioned functional key points are set as follow-up key points.

[0022] When the simulation scenario is an automatic weighing and anti-tipping scenario, the aforementioned functional key points are set as constraint key points.

[0023] Optionally, constructing the first model of the operating machinery based on its structural parameters and target pose parameters includes:

[0024] The first structural point and rotation angle are determined based on the structural parameters. The first structural point includes the chassis rotation center, the forward midpoint of the chassis, and the lateral midpoint of the chassis of the working machinery.

[0025] Based on the first structural point and the rotation angle, a third model of the operating machinery is constructed;

[0026] Based on the target pose parameters, a pose transformation operation is performed on the first structural point, and the transformed first structural point is used to update the third model to obtain the first model.

[0027] Optionally, the step of performing a pose transformation operation on the first structural point based on the target pose parameters, and updating the third model using the transformed first structural point to obtain the first model, includes:

[0028] The spatial coordinates of the first structural point are transformed from the first coordinate system to the second coordinate system. The first coordinate system is the global coordinate system of the operating machinery, and the second coordinate system is a local coordinate system constructed based on the chassis rotation center as the origin.

[0029] In the second coordinate system, based on the target pose parameters, the first structural point is translated and rotated to obtain the spatial coordinates of the second structural point;

[0030] Transform the spatial coordinates of the second structural point from the second coordinate system to the first coordinate system to obtain the third structural point;

[0031] The sum of the translation amount in the target pose parameters and the third structure point is determined as the transformed first structure point;

[0032] The third model is updated using the transformed first structure points to obtain the first model.

[0033] Optionally, updating the working device state of the operating machinery in the first model based on the reference plane in the first model includes:

[0034] Based on the included angle of the working device, the direction vector of the reference plane is rotated around the rotation center line of the working machine to obtain the structural vector of the working device. The direction vector is the vector of the intersection line between the chassis plane and the working device plane in the reference plane.

[0035] The working device state is determined based on the structural vector; wherein the structural vector includes at least one of the following: boom hinge point height vector, boom hinge point horizontal vector, boom vector, stick vector, and bucket vector.

[0036] Secondly, embodiments of this application provide a structural simulation device, the device comprising:

[0037] A construction module is used to construct a first model of the operating machinery based on the structural parameters and target pose parameters of the operating machinery. The first model includes at least two reference planes with spatial positional correlation, and the first structural points are determined based on the structural parameters of the operating machinery.

[0038] The update module is used to update the working device state of the operating machinery in the first model based on the reference plane in the first model. The working device state is used to define the pose of the working device in space and is determined by the structural vector and included angle corresponding to the working device.

[0039] The setting module is used to set at least one functional key point in the updated first model. The functional key point includes a follow-up key point that changes with the movement of an individual moving part in the working machine, and / or a constraint key point that does not change with the movement of an individual moving part.

[0040] The simulation module is used to simulate the motion structure of the operating machinery based on the second model.

[0041] Thirdly, embodiments of this application provide a work machine, which includes: a processor and a memory storing computer program instructions;

[0042] The processor implements a structural simulation method as described in any of the first aspects when executing computer program instructions.

[0043] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the structural simulation method as described in any of the first aspects.

[0044] In the above technical solution, by using two reference planes to represent the complex structure of the operating machinery, the computational load of the simulation is reduced, thus meeting the requirements of real-time simulation. Secondly, by calculating the vectors and angles of the working device and flexibly adding two types of functional key points, various actions and postures of the operating machinery can be accurately simulated, ensuring the accuracy of the simulation. The entire method does not rely on specific professional software platforms, is easy to run on various computing devices, and has good compatibility. Furthermore, by setting different functional key points, it can quickly adapt to different intelligent scenarios such as weighing, anti-tipping, and electronic fencing, demonstrating strong versatility and scalability, thereby effectively adapting to the real-time operation and intelligent simulation scenarios of the operating machinery.

[0045] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0046] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0047] Figure 1 The illustration shows a schematic flowchart of a structural simulation method according to an embodiment of this application;

[0048] Figure 2 The schematic diagram illustrates the structure of the reference plane in the first model according to an embodiment of this application;

[0049] Figure 3 A schematic diagram of the structure of an excavator according to an embodiment of this application is shown.

[0050] Figure 4 A schematic diagram of the working device of an excavator according to an embodiment of this application is shown.

[0051] Figure 5 A simulation diagram according to an embodiment of this application is illustrated schematically;

[0052] Figure 6 A schematic plan view of the chassis of an excavator according to an embodiment of this application is shown;

[0053] Figure 7 Another schematic diagram of the chassis plan of an excavator according to an embodiment of this application is shown.

[0054] Figure 8 A schematic diagram of the working device plane according to an embodiment of this application is shown;

[0055] Figure 9Another schematic diagram of the working device plane according to an embodiment of this application is shown;

[0056] Figure 10 A schematic diagram of the structure simulation device according to an embodiment of this application is shown.

[0057] Figure 11 This is a schematic diagram of the structure of the operating machinery provided in the embodiments of this application. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0059] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0060] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0061] It should be noted that the structural simulation method provided in the subsequent embodiments of this application can be applied to construction machinery, including but not limited to excavators, loaders and bulldozers. For the purpose of clearly illustrating the technical solution, the application of the structural simulation method to excavators is used as an example to illustrate the embodiments.

[0062] Figure 1 A schematic flowchart illustrating a structural simulation method according to an embodiment of this application is shown. Figure 1As shown in the figure, this application provides a structural simulation method, which includes:

[0063] Step 101: Based on the structural parameters and target pose parameters of the working machinery, construct a first model of the working machinery. The first model includes at least two reference planes with spatial positional correlation.

[0064] In this embodiment, structural parameters may include the length, width, and initial rotation angle of the excavator's chassis. Target pose parameters refer to the input parameters used to drive the model to the desired pose, and may include rotation angle and translation. The reference plane is determined based on the structural parameters, which include the chassis rotation center, forward midpoint, and lateral midpoint of the operating machinery.

[0065] like Figure 2 As shown, Figure 2 This is a schematic diagram of the reference plane in the first model. The reference plane includes the chassis plane (i.e., the undercarriage plane) and the working device plane of the operating machinery, and the chassis plane and the working device plane are perpendicular to each other. The chassis plane refers to the plane on which the chassis is located, and the working device plane refers to the plane on which the working device is located. The working device may include components such as the boom, stick, and bucket, all located within the same moving plane.

[0066] Step 102: Based on the reference plane in the first model, update the working device state of the operating machinery in the first model. The working device state is used to define the pose of the working device in space and is determined by the structural vector and included angle corresponding to the working device.

[0067] After the first model is constructed, the state of the working device needs to be further determined. The state of the working device is defined by a series of structural vectors and the angles between them. (See also...) Figure 3 and Figure 4 , Figure 3 This is a structural diagram of an excavator. Figure 4 This is a vector diagram of the excavator's working device. These vectors may include: boom hinge height vector L1, boom hinge horizontal vector L2, boom vector L3, stick vector L4, and bucket vector L5. The lengths of the vectors are structural constants of the excavator, while their directions and included angles are variables. The included angle refers to the angle between the working device and the chassis plane.

[0068] Specifically, the directions of each structural vector can be calculated based on the direction vector of the intersection line of the two reference planes and the preset included angle of the working device rotated around the slewing centerline of the excavator. This mathematical calculation can determine the state of each component of the working device under the current model pose, thus eliminating the need to rely on complex multibody dynamics software for solution.

[0069] Step 103: Set at least one functional key point in the updated first model to obtain the second model. The functional key point includes a follow-up key point that changes with the movement of a single moving part in the working machine, and / or a constraint key point that does not change with the movement of a single moving part.

[0070] The model constructed through steps 101 and 102 is a purely data-driven basic excavator model. In real-world scenarios, different key point simulation requirements will exist for different intelligent needs. For example, in the automatic weighing of the excavator, torque balance analysis of the hydraulic cylinder hinge point is required; in the anti-tipping scenario of the excavator, the force points of the undercarriage need to be analyzed; in the electronic fence scenario, anti-collision position analysis of the bucket teeth tip and the bottom of the bucket is required. These are all features not present in the basic model.

[0071] Therefore, the basic model needs to be expanded to add necessary functional key points. In the structure of an excavator, any key point depends on a rigid body joint. Therefore, functional key points are divided into follow-up key points, which change with the movement of individual moving parts in the machine, and / or constraint key points, which do not change with the movement of individual moving parts.

[0072] Step 104: Based on the second model, perform motion structure simulation of the operating machinery.

[0073] The final second model is a dataset containing the overall mechanical posture, working device status, and all necessary functional key points. Based on this model, various motion structure simulations can be performed efficiently. For example, by driving changes in the target's posture parameters, the overall machine's motion trajectory can be simulated; geometric calculations based on key point coordinates can predict the bucket tooth tip trajectory and calculate ground clearance; and by combining mechanical principles, automatic weighing calculations and anti-tipping warnings based on lever arm and torque balance can be achieved. Figure 5 As shown, the simulation results can be displayed through virtual rendering in a graphical interface, or they can be directly output to the control system as data.

[0074] In this embodiment, by using two reference planes to represent the complex structure of the operating machinery, the computational load of the simulation is reduced, thus meeting the requirements of real-time simulation. Secondly, by calculating the vectors and angles of the working device and flexibly adding two types of functional key points, various actions and postures of the operating machinery can be accurately simulated, ensuring the accuracy of the simulation. The entire method does not rely on a specific professional software platform, is easy to run on various computing devices, and has good compatibility. Furthermore, by setting different functional key points, it can quickly adapt to different intelligent scenarios such as weighing, anti-tipping, and electronic fencing, demonstrating strong versatility and scalability, thereby effectively adapting to the real-time operation of operating machinery and the intelligent simulation scenarios.

[0075] In one embodiment of this application, constructing a first model of the operating machinery based on its structural parameters and target pose parameters includes:

[0076] The first structural point and rotation angle are determined based on the structural parameters. The first structural point includes the chassis rotation center, the forward midpoint of the chassis, and the lateral midpoint of the chassis of the working machinery.

[0077] Based on the first structural point and the rotation angle, a third model of the operating machinery is constructed;

[0078] Based on the target pose parameters, a pose transformation operation is performed on the first structural point, and the transformed first structural point is used to update the third model to obtain the first model.

[0079] In this embodiment, the structural parameters mainly refer to the length, width, and rotation angle of the chassis of the operating machinery. The first structural point is a set of key reference points selected to define the reference plane. For example... Figure 6 As shown, Figure 6 This is a schematic diagram of the excavator's chassis.

[0080] For excavators, the first structural points include: Chassis rotation center O: This is the intersection of the excavator's rotation center axis and the plane containing the chassis bottom surface, serving as the reference point for all subsequent rotational transformations. Bottom surface frontal midpoint A: This point is located on the chassis bottom surface. The line connecting it to the chassis rotation center O is parallel to the track's forward direction, and the length of this line is equal to half the chassis length. Bottom surface lateral midpoint B: This point is also located on the chassis bottom surface. The line connecting it to the chassis rotation center O is perpendicular to the track's forward direction, and the length of this line is equal to half the chassis width. The rotation angle refers to the initial rotation angle θ of the working device plane relative to the chassis bottom surface. It can be a default value or specified by the user. This angle defines the initial swing position of the upper part relative to the lower part.

[0081] The third model is an intermediate model that represents the initial pose of the operating machinery in the world coordinate system. Its construction process is as follows:

[0082] like Figure 2 As shown, based on the spatial coordinates of the three first structural points O, A, and B, the plane equation of the chassis plane is calculated using the principle of three-point plane determination.

[0083] A0x+B0y+C0z+D0=0

[0084] After calculating the equation of the base surface, calculate the equation of the working device plane. With the base surface fixed, the working device plane rotates around the center line of rotation, having a rotation angle θ as a parameter. Therefore, θ is used to transform the working device plane. Calculate the equation of the working device plane:

[0085] First, calculate the normalized normal vector of the chassis plane:

[0086]

[0087] Calculate the track direction vector v of the excavator chassis:

[0088] v = OA = P(A) - P(O)

[0089] When the excavator is not rotating, the normal vector m of the working device plane is in its initial state:

[0090]

[0091] Normalization yields:

[0092]

[0093] When the excavator's working device rotates, it uses the rotation centerline as the axis of rotation. Calculate the new normal vector that rotates θ around the rotation centerline n.

[0094]

[0095] The normal vector of the working device plane is m', and the plane passes through O(x0,y0,z0). Construct the equation of the working device plane:

[0096]

[0097] The planar parameters of the working device are:

[0098] A1=m' x B1 = m' y C1 = m' z D1=-m'·O

[0099] The final plane equation of the working device is:

[0100] A1x+B1y+C1z+D1=0; D1=-(A1x0+B1y0+C1z0)

[0101] Therefore, the third model includes the plane equations of the chassis plane and the working device plane obtained from the above process.

[0102] In order to convert the static third model into the dynamic first model, it is necessary to perform a pose transformation operation on the first structural points and update the third model using the transformed first structural points to obtain the first model, so that the first model can represent all the postures of the excavator when it rotates and translates.

[0103] Specifically, in one embodiment, the step of performing a pose transformation operation on the first structural point based on the target pose parameters, and updating the third model using the transformed first structural point to obtain the first model, includes:

[0104] The spatial coordinates of the first structural point are transformed from the first coordinate system to the second coordinate system. The first coordinate system is the global coordinate system of the operating machinery, and the second coordinate system is a local coordinate system constructed based on the chassis rotation center as the origin.

[0105] In the second coordinate system, based on the target pose parameters, the first structural point is translated and rotated to obtain the spatial coordinates of the second structural point;

[0106] Transform the spatial coordinates of the second structural point from the second coordinate system to the first coordinate system to obtain the third structural point;

[0107] The sum of the translation amount in the target pose parameters and the third structure point is determined as the transformed first structure point;

[0108] The third model is updated using the transformed first structure points to obtain the first model.

[0109] In this embodiment, the overall motion posture of the excavator is determined once the bottom surface equation is set. Therefore, by transforming the bottom surface equation, the overall rotation and translation of the excavator can be achieved.

[0110] The excavator's transformation is considered a rigid body transformation. Since the transformation of the working device plane is updated based on the chassis plane equation, only the points on the three base surfaces need to be transformed to synchronously update the pose of the entire double-vertical reference plane, thereby simulating the overall movement of the excavator. The first coordinate system can be the world coordinate system.

[0111] First, the transformation of the chassis plane is divided into rotation and translation about point O. For points A and B on the bottom surface, coordinates P[x,y,z] are used to represent them. First, the translation about the coordinate system of the rotation point is performed:

[0112] P' = PO

[0113] Where P is the coordinate of point A or B in the first coordinate system, and O is the coordinate of the chassis rotation center in the first coordinate system. The purpose of this step is to transform the coordinates of point A or B to the second coordinate system with the rotation center O as the origin.

[0114] Then perform a rotation transformation:

[0115] P”=RP'

[0116] Where R is the rotation matrix, which is the rotation angle around the coordinate axis [θ]. x ,θy ,θ z ]Sure:

[0117]

[0118] After rotating the point back to the first coordinate system, we obtain the spatial coordinates p” of the second structural point:

[0119] P”'=P”+O

[0120] Then, using the translation amount in the target pose parameters, O, A, and B are globally translated, with the translation amount being T = [t]. x ,t y ,t z The translation amount can be preset or obtained by measuring it through sensors installed on the excavator.

[0121] P″″=P″′+T

[0122] By simulating the overall translation of the excavator, the final transformed point coordinates are obtained, which is the first structural point after transformation.

[0123] Finally, using the transformed first structural points based on the construction process of the third model described above, the transformed chassis plane equation and working device plane equation are recalculated, that is, the third model is updated to obtain the final first model.

[0124] In this embodiment, by explicitly dividing model construction into two stages—creating the initial third model and applying target pose transformation—modular design of the simulation process is achieved. This method decouples the inherent structure and initial posture of the working machinery from the target motion posture, so that simulations for different target poses do not require repeated complex initial model calculations. Only efficient coordinate transformations of a few key structural points and updates of plane equations are needed, greatly improving computational efficiency.

[0125] In one embodiment of this application, updating the working device state of the operating machinery in the first model based on the reference plane in the first model includes:

[0126] Based on the included angle of the working device, the direction vector of the reference plane is rotated around the rotation center line of the working machine to obtain the structural vector of the working device. The direction vector is the vector of the intersection line between the chassis plane and the working device plane in the reference plane.

[0127] The working device state is determined based on the structural vector; wherein the structural vector includes at least one of the following: boom hinge point height vector, boom hinge point horizontal vector, boom vector, stick vector, and bucket vector.

[0128] In this embodiment, as Figure 4 As shown, the working device of the excavator is disassembled into five vectors in the working device plane, including: boom hinge height vector L1, boom hinge horizontal vector L2, boom vector L3, stick vector L4, and bucket vector L5.

[0129] First, initialize the parameters of the working device, including the length and angle of 5 vectors. The lengths are all inherent constants of the excavator, and the angles are the angles with the forward vector OA of the chassis, that is, the angles with the chassis plane. The angles of L1 and L2 are fixed at 90° and 0°, respectively, while the angles of L3, L4, and L5 change as the excavator digs.

[0130] Then, in the coordinate system of the operating machinery, given that OA and the working device plane are determined, the included angle θ is calculated. n Any vector of length L can represent the structural vector of any working device within the working device plane. The specific calculation process is as follows:

[0131] First, calculate the direction vector of the intersection line of the two reference planes after the pose change:

[0132] n0 = (A0, B0, C0)

[0133] n1 = (A1, B1, C1)

[0134]

[0135] Where n0 is the chassis plane normal vector, n1 is the working device plane normal vector, × is the cross product, and || is the vector magnitude.

[0136] Then rotate the direction vector around the rotation centerline n1 axis by an angle θ. n :

[0137]

[0138] d n =L n d'

[0139] Obtain the structure vector d of different working devices n The spatial positions of the structural points corresponding to the boom hinge height vector, boom hinge horizontal vector, boom vector, stick vector, and bucket vector in an excavator are as follows:

[0140]

[0141] For different structures, the working device state can be obtained by successively adding and linking the joint vectors.

[0142] In this embodiment, the structural vector of the working device is calculated by using the direction vector of the intersection line of two reference planes as the calculation reference and directly rotating it around the rotation center axis by a preset angle. This transforms complex spatial structural relationships into efficient vector rotation operations, avoiding the massive computational load of traditional iterative or dynamic solutions and greatly improving computational efficiency.

[0143] In one embodiment of this application, setting at least one functional key point in the updated first model includes:

[0144] When the functional key point is a follow-up key point and is located on the chassis plane, the normal vector, the forward vector and the lateral vector of the chassis plane are determined as the first basis vectors. The forward vector of the chassis is determined based on the forward midpoint of the chassis of the working machine, and the lateral vector of the chassis is determined based on the lateral midpoint of the chassis of the working machine.

[0145] The position of the follow-up key point in the updated first model is determined by the ratio of the first basis vector to the chassis of the operating machinery.

[0146] In this embodiment, as Figure 7 As shown, Figure 7 This is another schematic diagram of the chassis plan.

[0147] For any point in the chassis plane, it can be determined by defining the first basis vector. The forward vector OA of the chassis points from the chassis rotation center O to the forward midpoint A of the chassis surface. This vector defines the forward direction of the working machine (i.e., the track direction), and its modulus is half the chassis length. Normalizing it yields a unit vector. The lateral vector OB of the chassis points from the chassis rotation center O to the lateral midpoint B of the chassis surface. This vector defines the lateral direction of the working machine (perpendicular to the track direction), and its modulus is half the chassis width. Normalizing it yields a unit vector. The normal vector OC of the chassis plane is perpendicular to the chassis plane, and its direction is defined as vertically upward or vertically downward.

[0148] For any follower keypoint located on the chassis plane, it can be represented using OA, OB, and OC as basis vectors. Specifically, the spatial coordinates P of the follower keypoint... k This can be expressed as:

[0149] P k =O + α1OA + α2OB + α3OC

[0150] Where α1 and α2 are the ratios of the length and width of the chassis.

[0151] In one embodiment, setting at least one functional key point in the updated first model includes:

[0152] When the functional key point is a follow-up key point and is located on the working device plane, the normal vector of the working device plane, the structural vector corresponding to the working device, and the vector perpendicular to the structural vector are determined as the second basis vector;

[0153] The position of the follow-up key point in the updated first model is determined by the ratio of the second basis vector to the chassis of the operating machinery.

[0154] In this embodiment, as Figure 8 As shown, Figure 8 This is a schematic diagram of the working device in plan view.

[0155] For any point in the working device plane, it can be determined by defining a second basis vector. The second basis vector includes the X-axis along the direction of the structure vector; the Y-axis perpendicular to the direction of the structure vector in the working device plane; and the Z-axis perpendicular to the direction of the working device plane, which is the normal vector of the working device plane.

[0156] Thus, three pairwise orthogonal second basis vectors are obtained. The positions of the follower keypoints in the updated first model are determined using these second basis vectors. The specific expression for the follower keypoints is as follows:

[0157] P k =P n +α1X+α2Y+α3Z

[0158] P n The starting point of the corresponding working device is E, for example, the stick structure corresponds to E, and α1 and α2 are the ratio of the length and width of the chassis.

[0159] In this embodiment, for the follow-up key points on different reference planes, first and second basis vectors are constructed using the feature vectors of the corresponding planes. The key point positions are determined by combining the chassis ratio, which can accurately anchor and determine the spatial coordinates of the follow-up key points, ensuring their synchronization and accuracy with the movement of individual moving parts, and avoiding the impact of key point position deviations on simulation accuracy. At the same time, the combined application of basis vectors and chassis ratio simplifies the position calculation logic and improves the efficiency of model construction.

[0160] In one embodiment of this application, setting at least one functional key point in the updated first model includes:

[0161] When the functional key point is a constraint key point, constraint equations are established based on the geometric constraint relationships of the linkage mechanism in the working device of the operating machinery.

[0162] Solve the constraint equations to obtain the spatial coordinates of the constraint key points;

[0163] The obtained spatial coordinates are used as the positions of the constraint key points in the updated first model.

[0164] In this embodiment, as Figure 9 As shown, Figure 9 This is another schematic diagram of the working device plane.

[0165] The constraint key point refers to the boom cylinder hinge point, which is a key point that does not change with any single moving part. Its position is determined by the connecting rod and the rocker arm.

[0166] like Figure 9 A linkage mechanism refers to the structure of a rocker arm and a connecting rod. The geometric constraint relationship of a linkage mechanism is the length L of the rocker arm. HI Fixed, connecting rod length L HJ Fixed, and the invariant geometric constraints formed by the positional relationship between their hinge points I and j.

[0167] H, I, and J are the hinge points between the rocker arm and the connecting rod, which are key points for synchronous movement with the stick and the bucket. H, I, and J are all within the plane of the working device, and the length L of the rocker arm is... HI L HJ Since H is a known quantity, we can use constraints to find it:

[0168] Specifically, given the working device plane normal vector n1 = (A1, B1, C1) and the IJ direction vector, constraint equations are constructed as follows:

[0169]

[0170] Where u is the unit vector in the IJ direction, and d is the distance from I to J.

[0171] Based on the orthogonal vectors IJ in the working device plane, the constraint equations are constructed as follows:

[0172]

[0173] Here, vcross is a perpendicular vector to n1 and u respectively, and lies within the working device plane; vunit is the normalized vector of vcross. This constraint equation is used to establish a local coordinate system within the working device plane and construct a unit vector orthogonal to u.

[0174] In a planar coordinate system, H is represented as:

[0175] H = I + xu + yv unit

[0176] Solving for the constraints yields the following spatial coordinates:

[0177]

[0178] x and y are the coordinate components of H in this local coordinate system, and these coordinate components are the positions of the constraint key points in the updated first model.

[0179] In this embodiment, constraint equations are established based on the geometric constraint relationships of the linkage mechanism of the working device, and the spatial coordinates of the constraint key points are obtained by solving them. This can accurately lock the position of the constraint key points that do not move with individual moving parts, avoid positional deviations caused by manual setting, and ensure the positioning accuracy of the constraint key points.

[0180] In one embodiment of this application, setting at least one functional key point in the updated first model includes:

[0181] When the simulation scenario is an electronic fence scenario or a one-click slope brushing scenario, the aforementioned functional key points are set as follow-up key points.

[0182] When the simulation scenario is an automatic weighing and anti-tipping scenario, the aforementioned functional key points are set as constraint key points.

[0183] In this embodiment, different key points can be selected for calculation for different application scenarios. For example, in the application of electronic fence and one-click slope brushing, the focus is on simulating the structural points of the bucket key points in the follow-up key points and performing boundary calculations in combination with tilt sensor information.

[0184] In automatic weighing and anti-tipping scenarios, it is necessary to focus on simulating the center of gravity of the key constraint points, and then perform further dynamic calculations by combining tilt sensors and pressure sensors.

[0185] The excavator can be virtualized in three dimensions by constructing a series of key points, and the spatial structure can be simulated simultaneously.

[0186] By setting different key functional points based on the scenario to be simulated, it can be flexibly adapted to various intelligent simulation scenarios of operating machinery.

[0187] Figure 10 A schematic diagram of a structural simulation device provided in another embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0188] Reference Figure 10 The structural simulation device 1000 may include:

[0189] The construction module 1001 is used to construct a first model of the operating machinery based on the structural parameters and target pose parameters of the operating machinery. The first model includes at least two reference planes with spatial positional correlation, and the first structural point is determined based on the structural parameters of the operating machinery.

[0190] The update module 1002 is used to update the working device state of the operating machinery in the first model based on the reference plane in the first model. The working device state is used to define the pose of the working device in space and is determined by the structural vector and included angle corresponding to the working device.

[0191] Setting module 1003 is used to set at least one functional key point in the updated first model. The functional key point includes a follow-up key point that changes with the movement of an individual moving part in the working machine, and / or a constraint key point that does not change with the movement of an individual moving part.

[0192] The simulation module 1004 is used to perform motion structure simulation of the operating machinery based on the second model.

[0193] Optionally, the reference plane includes the chassis plane and the working device plane of the operating machinery, and the chassis plane and the working device plane are perpendicular to each other.

[0194] Optionally, module 1003 includes:

[0195] The first determining submodule is used to determine the normal vector, forward vector, and lateral vector of the chassis plane as the first basis vector when the functional key point is a follow-up key point and is located on the chassis plane. The forward vector of the chassis is determined based on the forward midpoint of the chassis of the working machine, and the lateral vector of the chassis is determined based on the lateral midpoint of the chassis of the working machine.

[0196] The second determining submodule is used to determine the position of the follow-up key point in the updated first model by using the ratio of the first basis vector to the chassis of the operating machinery.

[0197] Optionally, the setting module 1003 also includes:

[0198] The third determining submodule is used to determine the normal vector of the working device plane, the structural vector corresponding to the working device, and the vector perpendicular to the structural vector as the second basis vector when the functional key point is a follow-up key point and is located on the working device plane.

[0199] The fourth determination submodule is used to determine the position of the follow-up key point in the updated first model by using the ratio of the second basis vector to the chassis of the operating machinery.

[0200] Optionally, the setting module 1003 also includes:

[0201] A submodule is established to establish constraint equations based on the geometric constraint relationships of the linkage mechanism in the working device of the operating machinery, when the functional key points are constraint key points.

[0202] The solver submodule is used to solve the constraint equations and obtain the spatial coordinates of the constraint key points.

[0203] The fifth determination submodule is used to determine the spatial coordinates obtained by solving as the position of the constraint key point in the updated first model.

[0204] Optionally, module 1003 is configured specifically for:

[0205] When the simulation scenario is an electronic fence scenario or a one-click slope brushing scenario, the aforementioned functional key points are set as follow-up key points.

[0206] When the simulation scenario is an automatic weighing and anti-tipping scenario, the aforementioned functional key points are set as constraint key points.

[0207] Optionally, module 1001 includes:

[0208] The sixth determining submodule is used to determine the first structural point and rotation angle based on the structural parameters. The first structural point includes the chassis rotation center, the forward midpoint of the chassis, and the lateral midpoint of the chassis of the operating machinery.

[0209] A submodule is constructed to build a third model of the operating machinery based on the first structural point and the rotation angle;

[0210] The update submodule is used to perform pose transformation operation on the first structure point based on the target pose parameters, and update the third model using the transformed first structure point to obtain the first model.

[0211] Optionally, update the submodules, including:

[0212] The first transformation unit is used to transform the spatial coordinates of the first structural point from the first coordinate system to the second coordinate system. The first coordinate system is the global coordinate system of the operating machinery, and the second coordinate system is a local coordinate system constructed based on the chassis rotation center as the origin.

[0213] A rotation unit is used to translate and rotate the first structural point in the second coordinate system based on the target pose parameters to obtain the spatial coordinates of the second structural point.

[0214] The second transformation unit is used to transform the spatial coordinates of the second structural point from the second coordinate system to the first coordinate system to obtain the third structural point;

[0215] A determining unit is used to determine the sum of the translation amount in the target pose parameters and the third structure point as the transformed first structure point;

[0216] An update unit is used to update the third model using the transformed first structure points to obtain the first model.

[0217] Optionally, update module 1002, including:

[0218] The rotation submodule is used to rotate the direction vector of the reference plane around the rotation centerline of the working machine according to the included angle of the working device, so as to obtain the structural vector of the working device. The direction vector is the vector of the intersection line between the chassis plane and the working device plane in the reference plane.

[0219] The seventh determining submodule is used to determine the state of the working device based on the structure vector; wherein the structure vector includes at least one of the following: boom hinge point height vector, boom hinge point horizontal vector, boom vector, stick vector, and bucket vector.

[0220] Figure 11 A schematic diagram of the hardware structure of the operating machinery provided in an embodiment of this application is shown.

[0221] The device may include a processor 1101 and a memory 1102 storing program instructions.

[0222] When processor 1101 executes the program, it implements the steps in any of the above method embodiments.

[0223] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 1102 and executed by processor 1101 to complete this application. The one or more modules / units can be a series of program instruction segments capable of performing a specific function, which describe the execution process of the program in the device.

[0224] Specifically, the processor 1101 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0225] Memory 1102 may include mass storage for data or instructions. For example, and not limitingly, memory 1102 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 1102 may include removable or non-removable (or fixed) media. Where appropriate, memory 1102 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 1102 is non-volatile solid-state memory.

[0226] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0227] The processor 1101 implements any of the methods described in the above embodiments by reading and executing program instructions stored in the memory 1102.

[0228] In one example, the working machine may also include a communication interface 1103 and a bus 1110. The processor 1101, memory 1102, and communication interface 1103 are connected through the bus 1110 and communicate with each other.

[0229] The communication interface 1103 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0230] Bus 1110 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 1110 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0231] Furthermore, in conjunction with the methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores program instructions; when these program instructions are executed by a processor, they implement any of the methods in the above embodiments.

[0232] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0233] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0234] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, it will not be described again here.

[0235] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0236] The functional modules shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on machine-readable media or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.

[0237] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0238] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to create a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0239] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A structural simulation method, characterized in that, The method includes: Based on the structural parameters and target pose parameters of the operating machinery, a first model of the operating machinery is constructed, the first model including at least two reference planes with spatial positional correlation; Based on the reference plane in the first model, the working device state of the operating machinery in the first model is updated. The working device state is used to define the pose of the working device in space and is determined by the structural vector and included angle corresponding to the working device. In the updated first model, at least one functional key point is set to obtain the second model. The functional key point includes a follow-up key point that changes with the movement of a single moving part in the working machine, and / or a constraint key point that does not change with the movement of a single moving part. Based on the second model, the motion structure simulation of the operating machinery is performed.

2. The structural simulation method according to claim 1, characterized in that, Setting at least one functional key point in the updated first model includes: When the functional key point is a follow-up key point and is located on the chassis plane, the normal vector, the forward vector and the lateral vector of the chassis plane are determined as the first basis vectors. The forward vector of the chassis is determined based on the forward midpoint of the chassis of the working machine, and the lateral vector of the chassis is determined based on the lateral midpoint of the chassis of the working machine. The position of the follow-up key point in the updated first model is determined by the ratio of the first basis vector to the chassis of the operating machinery.

3. The structural simulation method according to claim 1, characterized in that, Setting at least one functional key point in the updated first model includes: When the functional key point is a follow-up key point and is located on the working device plane, the normal vector of the working device plane, the structural vector corresponding to the working device, and the vector perpendicular to the structural vector are determined as the second basis vector; The position of the follow-up key point in the updated first model is determined by the ratio of the second basis vector to the chassis of the operating machinery.

4. The structural simulation method according to claim 1, characterized in that, Setting at least one functional key point in the updated first model includes: When the functional key point is a constraint key point, constraint equations are established based on the geometric constraint relationships of the linkage mechanism in the working device of the operating machinery. Solve the constraint equations to obtain the spatial coordinates of the constraint key points; The obtained spatial coordinates are used as the positions of the constraint key points in the updated first model.

5. The structural simulation method according to claim 1, characterized in that, Setting at least one functional key point in the updated first model includes: When the simulation scenario is an electronic fence scenario or a one-click slope brushing scenario, the aforementioned functional key points are set as follow-up key points. When the simulation scenario is an automatic weighing and anti-tipping scenario, the aforementioned functional key points are set as constraint key points.

6. The structural simulation method according to claim 1, characterized in that, The construction of the first model of the operating machinery based on the structural parameters and target pose parameters of the operating machinery includes: The first structural point and rotation angle are determined based on the structural parameters. The first structural point includes the chassis rotation center, the forward midpoint of the chassis, and the lateral midpoint of the chassis of the working machinery. Based on the first structural point and the rotation angle, a third model of the operating machinery is constructed; Based on the target pose parameters, a pose transformation operation is performed on the first structural point, and the transformed first structural point is used to update the third model to obtain the first model.

7. The structural simulation method according to claim 6, characterized in that, The step of performing a pose transformation operation on the first structural point based on the target pose parameters, and updating the third model using the transformed first structural point to obtain the first model, includes: The spatial coordinates of the first structural point are transformed from the first coordinate system to the second coordinate system. The first coordinate system is the global coordinate system of the operating machinery, and the second coordinate system is a local coordinate system constructed based on the chassis rotation center as the origin. In the second coordinate system, based on the target pose parameters, the first structural point is translated and rotated to obtain the spatial coordinates of the second structural point; Transform the spatial coordinates of the second structural point from the second coordinate system to the first coordinate system to obtain the third structural point; The sum of the translation amount in the target pose parameters and the third structure point is determined as the transformed first structure point; The third model is updated using the transformed first structure points to obtain the first model.

8. The structural simulation method according to claim 1, characterized in that, The step of updating the working device state of the operating machinery in the first model based on the reference plane in the first model includes: Based on the included angle of the working device, the direction vector of the reference plane is rotated around the rotation center line of the working machine to obtain the structural vector of the working device. The direction vector is the vector of the intersection line between the chassis plane and the working device plane in the reference plane. The working device state is determined based on the structural vector; wherein the structural vector includes at least one of the following: boom hinge point height vector, boom hinge point horizontal vector, boom vector, stick vector, and bucket vector.

9. A structural simulation device, characterized in that, The device includes: A construction module is used to construct a first model of the operating machinery based on the structural parameters and target pose parameters of the operating machinery. The first model includes at least two reference planes with spatial positional correlation. The update module is used to update the working device state of the operating machinery in the first model based on the reference plane in the first model. The working device state is used to define the pose of the working device in space and is determined by the structural vector and included angle corresponding to the working device. The setting module is used to set at least one functional key point in the updated first model. The functional key point includes a follow-up key point that changes with the movement of an individual moving part in the working machine, and / or a constraint key point that does not change with the movement of an individual moving part. The simulation module is used to simulate the motion structure of the operating machinery based on the second model.

10. A type of operating machinery, characterized in that, The operating machinery includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the structural simulation method as described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the structural simulation method as described in any one of claims 1-8.

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