A method and system for adaptive adjustment of slope parameters of an excavator

Abstract

The present application belongs to the technical field of excavator control, and discloses a kind of excavator slope repair parameter self-adaptive adjustment method and system, including obtaining target slope angle, and constructing slope movement model, ideal slope trajectory curve is generated based on target slope angle;Obtain the angle data of each working device of excavator, and generate actual movement curve based on the angle data of each working device;Contrast actual movement curve and ideal slope trajectory curve, obtain comparison result, and calculate trajectory error according to comparison result;If trajectory error is greater than set threshold, then control parameters are adjusted by iteration and the slope movement model is updated;If trajectory error is less than or equal to set threshold, then save current control parameter as slope exclusive parameter group.The present application realizes the full-automatic calibration of excavator boom, stick, bucket control parameters, improves slope repair precision, and shortens debugging time.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to an adaptive adjustment method and system for excavator slope trimming parameters. 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] In earthwork engineering, road construction, and mining, excavator slope trimming is a core component in ensuring the stability of engineering structures and the accuracy of subsequent construction. The quality of this work directly determines the overall safety and economy of the project. As projects demand increasing precision and efficiency in slope trimming, traditional methods relying on manual experience for parameter control are becoming increasingly inadequate, necessitating more efficient and stable parameter adjustment technologies.

[0004] In existing technologies, excavator slope trimming operations generally adopt a "manual experience-based parameter adjustment" technical solution. The specific process is as follows: First, an experienced operator presets the initial values ​​of control parameters such as the boom and stick based on the target slope and equipment model, relying on past operational experience. Then, the excavator is started to perform the slope trimming operation, and the slope shape is observed visually or the actual slope is checked with the help of simple measuring tools. If the slope deviation is found to be excessive or the flatness is poor, the machine is stopped, the parameters are adjusted, the slope trimming operation is performed again, and the effect is verified. The above "preset-test run-adjust-re-verify" process needs to be repeated until the slope quality meets the requirements.

[0005] However, existing technical solutions have significant technical problems in practical applications and are difficult to adapt to the high requirements of slope repair operations, specifically: Low debugging efficiency and long operation cycle: The existing technology requires repeated shutdowns and test runs for each slope repair parameter debugging. For complex slopes, the debugging time is long, which greatly extends the overall project period and affects the debugging efficiency.

[0006] The slope repair accuracy is unstable and the consistency is poor: the effect of parameter adjustment depends entirely on the operator's experience. Different operators have different judgment standards and parameter adjustment logic for "slope deviation" and "smoothness". The parameters adjusted by different operators, or even the same operator, under different working conditions have poor consistency, resulting in large slope deviations between adjacent slopes in the same project area.

[0007] Unable to adapt to changes in working conditions, requiring repeated debugging: The parameters of the existing solution are only adapted to the specific working conditions during debugging. When the equipment working conditions change or the operation scenario changes, the original parameters will cause a sharp drop in slope repair accuracy due to decreased adaptability. The entire "preset-test run-adjustment" process needs to be restarted, which not only increases the complexity of operation, but may also cause secondary damage to the repaired slope due to repeated debugging.

[0008] In some scenarios where high precision is required, a laser scanning technology solution is adopted. This involves projecting a baseline onto the slope using a laser emitter, and the operator manually corrects the parameters based on the deviation between the laser line and the actual slope. However, this solution requires additional laser equipment, is costly, and is susceptible to interference from environmental factors such as dust at the construction site, and is dependent on the actual slope. Summary of the Invention

[0009] To address the aforementioned issues, this invention proposes an adaptive adjustment method and system for excavator slope trimming parameters. This invention enables fully automatic calibration of the control parameters of the excavator boom, stick, and bucket, thereby improving slope trimming accuracy and shortening debugging time.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an adaptive adjustment method for slope repair parameters of an excavator, comprising the following steps: Obtain the target slope angle and construct a slope motion model, then generate an ideal slope trajectory curve based on the target slope angle; The system controls the excavator to perform preset slope repair actions while it is suspended off the slope, and acquires the angle data generated by each working device during the preset slope repair actions, and generates the actual motion curve based on this data. The actual motion curve is compared with the ideal slope trajectory curve to obtain the comparison result. The trajectory error is calculated based on the comparison result. If the trajectory error is greater than a set threshold, the control parameters are adjusted iteratively and the slope motion model is updated. If the trajectory error is less than or equal to the set threshold, the current control parameters are saved as a slope-specific parameter group.

[0011] As an alternative implementation, the construction process of the slope motion model includes: converting the target slope angle into radians; determining the ideal path of the bucket tip based on the starting point position of the bucket tip, the movement speed, and the radians of the target slope angle; and defining the ideal joint angle association rules of the boom, stick, and bucket in combination with the boom length.

[0012] As an alternative implementation, the process of generating the ideal slope trajectory curve includes: back-calculating the ideal joint angles of the boom, the stick, and the bucket based on the ideal joint angle association rules in the slope motion model.

[0013] As an alternative implementation, the trajectory error includes angular error and flatness error, wherein the angular error is expressed as: ;in, For angular error, This is the actual slope. The target slope; The flatness error refers to the degree of fluctuation in the actual trajectory.

[0014] As an alternative implementation, the trajectory error is obtained by combining the angle error and the flatness error with corresponding weights, and the trajectory error is expressed as: ;in, For trajectory error, For flatness error, , These are the weights corresponding to the angle error and the flatness error, respectively.

[0015] As an alternative implementation, the control parameters include boom control parameters, stick control parameters, and bucket compensation parameters; The adjustment rule for the boom control parameters is as follows: When it is determined that the boom control parameters need to be increased based on the angle error, the adjustment amount of the boom control parameters is expressed as: When it is determined that the boom control parameters need to be reduced based on the angle error, the adjustment amount of the boom control parameters is expressed as follows: ; The adjustment rule for the boom control parameters is as follows: When it is determined that the boom control parameters need to be increased based on the flatness error, the adjustment amount of the boom control parameters is expressed as follows: When it is determined that the stick control parameters need to be reduced based on the flatness error, the adjustment amount of the stick control parameters is expressed as follows: ; The adjustment rules for the bucket compensation parameters are as follows: ;in, The adjusted bucket compensation parameters, These are the original values ​​for the bucket compensation parameters.

[0016] Secondly, the present invention provides an adaptive adjustment system for excavator slope trimming parameters, comprising the following modules: The ideal trajectory generation module is configured to: acquire the target slope angle, construct a slope motion model, and generate an ideal slope trajectory curve based on the target slope angle; The actual trajectory generation module is configured to: control the excavator to perform a preset slope repair action in a suspended state away from the slope, and acquire the angle data generated by each working device during the preset slope repair action, and generate the actual motion curve based on this. The iterative update module is configured to: obtain a comparison result by comparing the actual motion curve with the ideal slope trajectory curve, and calculate the trajectory error based on the comparison result; if the trajectory error is greater than a set threshold, then adjust the control parameters iteratively and update the slope motion model; if the trajectory error is less than or equal to the set threshold, then save the current control parameters as a slope-specific parameter group.

[0017] Thirdly, the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the adaptive adjustment method for excavator slope repair parameters described in the first aspect.

[0018] Fourthly, the present invention provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, perform the adaptive adjustment method for excavator slope repair parameters described in the first aspect.

[0019] Fifthly, the present invention provides a computer program product, including a computer program, which, when executed by a processor, implements the adaptive adjustment method for excavator slope repair parameters described in the first aspect.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention eliminates soil resistance interference through suspended testing, ensuring that the parameter optimization process reflects only the excavator's own dynamic characteristics, thereby improving the universality of the parameters.

[0021] This invention utilizes an ideal slope trajectory curve and the actual motion curve, eliminating the need for manual preset of initial parameter values ​​or manual visual observation. Subsequent adjustment of slope repair parameters is achieved through error calculation and iterative parameter adjustments. This invention replaces manual trial and error with an automated process, eliminates the need for additional laser equipment, reduces debugging costs, is unaffected by environmental factors, and requires no repeated manual intervention or shutdowns. This significantly shortens the time required for single slope repair parameter adjustments, improves debugging efficiency, and reduces overall project delays.

[0022] This invention achieves controllable accuracy through "quantitative modeling + closed-loop iteration." On one hand, the ideal slope trajectory curve generated based on the target slope serves as a fixed benchmark, avoiding the subjectivity of manual judgment. On the other hand, the trajectory error is calculated by comparing the actual motion curve with the ideal curve, and the control parameters are iteratively adjusted according to preset rules, ensuring that each parameter adjustment is based on quantified error rather than empirical judgment. Furthermore, the consistency of parameters debugged by different devices and operators using the same system is significantly improved, avoiding inconsistent slope quality caused by differences in human experience.

[0023] This invention achieves self-adaptation through "dynamic updating of the slope motion model + storage of slope-specific parameter sets": when changes in equipment operating conditions cause the trajectory error to exceed the threshold, the control parameters are iteratively adjusted and the slope motion model is updated, without the need for manual reset of the initial parameters; at the same time, the dedicated parameter sets stored for different target slopes can be directly called in subsequent operations at the same slope, without repeating the complete debugging process, avoiding the decrease in accuracy due to wear, and significantly reducing the operational complexity and secondary slope repair risks caused by changes in operating conditions.

[0024] 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

[0025] 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.

[0026] Figure 1 This is a flowchart of an adaptive adjustment method for excavator slope repair parameters provided in Embodiment 1 of the present invention. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed description is exemplary and intended to provide further illustration 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.

[0029] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0030] Example 1 like Figure 1 As shown, this embodiment provides an adaptive adjustment method for excavator slope trimming parameters, enabling fully automatic calibration of the control parameters of the excavator boom, stick, and bucket, improving slope trimming accuracy, and shortening debugging time. Specifically, it includes the following steps: Initiate the slope repair self-learning command, obtain and input the target slope angle, construct the slope motion model, and generate the ideal slope trajectory curve based on the target slope angle.

[0031] In this embodiment, the ideal path that the bucket tip should move is calculated based on the set slope angle, and then the angle values ​​of each joint of the excavator are derived in reverse. The construction process of the slope motion model includes: converting the target slope angle into radians; determining the ideal path of the bucket tip based on the starting point position of the bucket tip, the movement speed, and the radians of the target slope angle; and defining the association rules of the ideal joint angles of the boom, stick, and bucket in combination with the boom length.

[0032] The target slope angle, converted to radians, is as follows: The method for calculating the ideal path of the bucket tip is as follows: ;# Horizontal direction ;# Vertical direction The process of generating the ideal slope trajectory curve includes: based on the ideal joint angle association rules in the slope motion model, the ideal joint angles of the boom, stick, and bucket are derived by reverse calculation.

[0033] The formula for calculating the ideal joint angle of the boom, derived by reverse deduction, is as follows: ; Calculate the vector from the boom base to the bucket tip: ; ; The formula for calculating the ideal joint angle of the stick is: ; Calculate the relative position of the boom joint to the tip of the bucket: ; ;in, This refers to the boom length; The formula for calculating the ideal joint angle of the bucket is: value This formula ensures that the bottom plane of the bucket is parallel to the target slope. It is the angle of the bucket joint relative to the base, α is the target slope, 90° is the offset of rotating the bucket from the vertical reference to the horizontal reference, and the compensation value is used for fine-tuning.

[0034] The system controls the excavator to perform preset slope repair actions while it is suspended off the slope, and acquires the angle data generated by each working device during the preset slope repair actions, and generates the actual motion curve based on this data.

[0035] By comparing the actual motion curve with the ideal slope trajectory curve, a comparison result is obtained, and the trajectory error is calculated based on the comparison result. The trajectory error includes angle error and flatness error, with the angle error expressed as follows: ;in, For angular error, This is the actual slope. The target slope; The flatness error is the degree of fluctuation of the actual trajectory, that is, the standard deviation of the fluctuation of the actual trajectory.

[0036] According to angle error The flatness error, combined with its corresponding weight, yields the trajectory error, which is expressed as: ;in, For trajectory error, This is for flatness error. , These are the weights corresponding to the angle error and the flatness error, respectively.

[0037] If the trajectory error is greater than the set threshold, the control parameters are adjusted iteratively and the slope motion model is updated; if the trajectory error is less than or equal to the set threshold, the current control parameters are saved as a slope-specific parameter set.

[0038] In this embodiment, the control parameters include boom control parameters, stick control parameters, and bucket compensation parameters; The adjustment rule for boom control parameters is as follows: When it is determined that the boom control parameters need to be increased based on the angle error, the adjustment amount of the boom control parameters is expressed as follows: When it is determined that the boom control parameters need to be reduced based on the angle error, the adjustment amount of the boom control parameters is expressed as follows: ; The adjustment rule for the boom control parameters is as follows: When it is determined that the boom control parameters need to be increased based on the flatness error, the adjustment amount of the boom control parameters is expressed as follows: When it is determined that the stick control parameters need to be reduced based on the flatness error, the adjustment amount of the stick control parameters is expressed as follows: ; The adjustment rules for bucket compensation parameters are as follows: ;in, The adjusted bucket compensation parameters, These are the original values ​​for the bucket compensation parameters.

[0039] Example 2 This embodiment provides an adaptive adjustment system for excavator slope trimming parameters, including the following modules: The ideal trajectory generation module is configured to: obtain the target slope angle, construct a slope motion model, and generate an ideal slope trajectory curve based on the target slope angle; The actual trajectory generation module is configured to: control the excavator to perform a preset slope repair action in a suspended state away from the slope, and acquire the angle data generated by each working device during the preset slope repair action, and generate the actual motion curve based on this. The iterative update module is configured to: obtain a comparison result by comparing the actual motion curve with the ideal slope trajectory curve, and calculate the trajectory error based on the comparison result; if the trajectory error is greater than a set threshold, then adjust the control parameters iteratively and update the slope motion model; if the trajectory error is less than or equal to the set threshold, then save the current control parameters as a slope-specific parameter group.

[0040] It should be noted that the above modules correspond to the steps in Embodiment 1, and the examples and application scenarios implemented by the above modules and their corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules can be executed in a computer system as part of the system.

[0041] In further embodiments, the following is also provided: An electronic device includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the method described in Embodiment 1. For brevity, further details are omitted here.

[0042] It should be understood that in this embodiment, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0043] A computer-readable storage medium for storing computer instructions that, when executed by a processor, perform the method of Embodiment 1.

[0044] The method in Example 1 can be directly executed by a hardware processor, or it can be executed by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, a detailed description is not provided here.

[0045] A computer program product includes a computer program that, when executed by a processor, implements the method in Embodiment 1.

[0046] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as instructions included in program modules, which execute in a device on a target real or virtual processor to perform the processes / methods described above. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc., that perform specific tasks or implement specific abstract data types. In various embodiments, the functionality of program modules can be combined or divided among program modules as needed. The machine-executable instructions for the program modules can execute within a local or distributed device. In a distributed device, the program modules can reside in both local and remote storage media.

[0047] The computer program code used to implement the methods of the present invention may be written in one or more programming languages. This computer program code may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the computer or other programmable data processing device, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a computer, partially on a computer, as a stand-alone software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0048] In the context of this invention, computer program code or related data may be carried by any suitable carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals may include electrical, optical, radio, sound, or other forms of propagation signals, such as carrier waves, infrared signals, etc.

[0049] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the embodiments herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0050] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for adaptive adjustment of slope trimming parameters for excavators, characterized in that, Includes the following steps: Obtain the target slope angle and construct a slope motion model, then generate an ideal slope trajectory curve based on the target slope angle; Control the excavator to perform preset slope repair actions while it is suspended off the slope, and acquire the angle data generated by each working device during the preset slope repair actions, and generate the actual motion curve based on this data. The actual motion curve is compared with the ideal slope trajectory curve to obtain the comparison result. The trajectory error is calculated based on the comparison result. If the trajectory error is greater than a set threshold, the control parameters are adjusted iteratively and the slope motion model is updated. If the trajectory error is less than or equal to the set threshold, the current control parameters are saved as a slope-specific parameter group. The construction process of the slope motion model includes: converting the target slope angle into radians; determining the ideal path of the bucket tip based on the starting point position of the bucket tip, the movement speed, and the radians of the target slope angle; and defining the ideal joint angle association rules of the boom, stick, and bucket in combination with the boom length.

2. The method for adaptive adjustment of excavator slope trimming parameters as described in claim 1, characterized in that, The process of generating the ideal slope trajectory curve includes: based on the ideal joint angle association rules in the slope motion model, the ideal joint angles of the boom, stick, and bucket are derived by reverse calculation.

3. The method for adaptive adjustment of excavator slope trimming parameters as described in claim 1, characterized in that, The trajectory error includes angle error and flatness error, wherein the angle error is expressed as: ;in, For angular error, This is the actual slope. The target slope; The flatness error refers to the degree of fluctuation in the actual trajectory.

4. The method for adaptive adjustment of excavator slope repair parameters as described in claim 3, characterized in that, Based on the angle error and flatness error combined with their respective weights, the trajectory error is obtained, which is expressed as: ;in, For trajectory error, This is for flatness error. , These are the weights corresponding to the angle error and the flatness error, respectively.

5. The method for adaptive adjustment of excavator slope trimming parameters as described in claim 1, characterized in that, The control parameters include boom control parameters, stick control parameters, and bucket compensation parameters; The adjustment rule for the boom control parameters is as follows: When it is determined that the boom control parameters need to be increased based on the angle error, the adjustment amount of the boom control parameters is expressed as follows: When it is determined that the boom control parameters need to be reduced based on the angle error, the adjustment amount of the boom control parameters is expressed as follows: ; The adjustment rule for the boom control parameters is as follows: When it is determined that the boom control parameters need to be increased based on the flatness error, the adjustment amount of the boom control parameters is expressed as follows: When it is determined that the stick control parameters need to be reduced based on the flatness error, the adjustment amount of the stick control parameters is expressed as follows: ,in This refers to flatness error; The adjustment rules for the bucket compensation parameters are as follows: ;in, The adjusted bucket compensation parameters, These are the original values ​​for the bucket compensation parameters. This represents the angular error.

6. An adaptive adjustment system for excavator slope trimming parameters, characterized in that, include: The ideal trajectory generation module is configured to: obtain the target slope angle, construct a slope motion model, and generate an ideal slope trajectory curve based on the target slope angle; The construction process of the slope motion model includes: converting the target slope angle into radians; determining the ideal path of the bucket tip based on the starting point position of the bucket tip, the movement speed, and the radians of the target slope angle; and defining the ideal joint angle association rules of the boom, stick, and bucket in combination with the boom length. The actual trajectory generation module is configured to: control the excavator to perform a preset slope repair action in a suspended state away from the slope, and acquire the angle data generated by each working device during the preset slope repair action, and generate the actual motion curve based on this. The iterative update module is configured to: obtain a comparison result by comparing the actual motion curve with the ideal slope trajectory curve, and calculate the trajectory error based on the comparison result; if the trajectory error is greater than a set threshold, then adjust the control parameters iteratively and update the slope motion model; if the trajectory error is less than or equal to the set threshold, then save the current control parameters as a slope-specific parameter group.

7. An electronic device, characterized in that, It includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the adaptive adjustment method for excavator slope repair parameters as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, complete the adaptive adjustment method for excavator slope repair parameters as described in any one of claims 1-5.

9. A computer program product, characterized in that, The method includes a computer program that, when executed by a processor, implements the adaptive adjustment method for excavator slope repair parameters as described in any one of claims 1-5.

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