CN112211248A - Loader and autonomous shovel loading control method thereof - Google Patents
Loader and autonomous shovel loading control method thereof Download PDFInfo
- Publication number
- CN112211248A CN112211248A CN202011157156.2A CN202011157156A CN112211248A CN 112211248 A CN112211248 A CN 112211248A CN 202011157156 A CN202011157156 A CN 202011157156A CN 112211248 A CN112211248 A CN 112211248A
- Authority
- CN
- China
- Prior art keywords
- loader
- track
- trajectory
- bucket
- execution system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2079—Control of mechanical transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to the technical field of unmanned loading of a loader, in particular to a loader and an autonomous shovel loading control method thereof, wherein the loader comprises a monitoring system, a control system and an execution system, and the control system comprises: the track planning unit is used for receiving monitoring data of the monitoring system and formulating a digging track of the loader; the trajectory tracking unit is used for controlling the execution system to execute the digging of the materials according to the digging trajectory transmitted by the trajectory planning unit; the intervention control unit is used for taking over the control right of the trajectory tracking unit when the execution system is blocked and controlling the execution system to execute related protection actions; and the trajectory replanning unit is used for making a new digging trajectory. The invention has the beneficial effects that: the reasonable planning of the excavation track can be carried out on different materials, the full bucket rate of the bucket is improved, the energy consumption is reduced, the intervention can be carried out when the track tracking is difficult, and the excavation track is planned again.
Description
Technical Field
The invention relates to the technical field of unmanned loading of a loader, in particular to a loader and an autonomous shovel loading control method thereof.
Background
The loader is driven by a boring work, the fatigue of a driver is easily caused by long-time repeated operation, the working efficiency is influenced, and potential safety hazards exist. The development of the unmanned technology research of the loader has very important practical significance in the aspects of reducing the labor intensity of a driver, reducing operation accidents, improving the operation efficiency and the like. The operation objects of the loader mainly comprise bulk materials such as coal, broken stone, sand, soil and the like, the operation objects belong to discontinuous media, the load of the bucket changes violently in the shoveling process, and a plurality of parameters such as the strength of the materials can influence the filling effect of the bucket, so that how to finish the autonomous shoveling and loading of the loader is a key and difficult technology for realizing unmanned operation of the loader.
The automatic shovel loading of the loader is realized mainly in two modes in the existing research results: a method for reproducing the shovel loading action of a driver comprises the steps that the driver operates a loader to shovel loading materials, a control system records the action of the loader operated by the driver, and then playback is carried out repeatedly, so that the purpose of automatic shovel loading is achieved; the other method is that a plurality of spading tracks are stored in a control system of the loader, a driver inputs information such as the types of materials before each operation, and the loader selects a corresponding working mode according to the information to carry out automatic spading.
The prior shoveling mode has a common defect that the shoveling operation is a fixed mode, the same action is carried out every time, the process of shoveling materials by a loader is a very complicated process and is influenced by various factors, and a fixed shoveling track is obviously not suitable for the working environment with constantly changing shapes. The existing loader adopts a basic semi-automatic mode for autonomous shovel loading, a driver controls the direction and an accelerator of the loader, a loader control system controls the actions of a movable arm oil cylinder and a rotating bucket oil cylinder, and an operating lever for controlling the movable arm and the rotating bucket is convenient to operate, so that the mode can only reduce the fatigue of the driver to a very small degree, can not ensure that a good shovel loading effect is obtained, and has low value in actual production operation.
Disclosure of Invention
The present invention is directed to a loader and an autonomous shovel loading control method thereof, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a loader comprising a monitoring system, a control system, and an execution system, the control system comprising: the track planning unit is used for receiving monitoring data of the monitoring system and making and modifying a digging track of the loader in real time; the trajectory tracking unit is used for controlling the execution system to execute the digging of the materials according to the digging trajectory transmitted by the trajectory planning unit; the intervention control unit is used for taking over the control right of the track tracking unit when the execution system is separated from the digging track or is abnormal, and controlling the execution system to execute related protection actions; and the trajectory replanning unit is used for formulating a new excavation trajectory after the execution system executes the related protection action.
As a further scheme of the invention: the monitoring system monitors relevant information and material relevant information of the loader and transmits the information to the control system, the control system receives data transmitted by the monitoring system and outputs relevant control instructions to control the execution system, and the execution system drives the loader to move and the bucket to dig.
As a still further scheme of the invention: the monitoring system comprises an environmental information acquisition element and a loader state information acquisition element which are respectively used for acquiring the characteristics of the material pile, the relative position of the material pile and the loader and the state of a bucket of the loader.
As a still further scheme of the invention: the implement system includes a hydraulic drive that controls the chattering, turning, and lifting of the bucket.
The invention provides another technical scheme that: a loader autonomous shovel control method, the loader as described in any one of the above, the method comprising the steps of:
the monitoring system monitors relevant information of the loader and relevant material information in real time and transmits the information to the control system;
a track planning unit of the control system receives monitoring data of the monitoring system and formulates a digging track of the loader;
the trajectory tracking unit controls the execution system to carry out digging of materials according to a digging trajectory output instruction transmitted by the trajectory planning unit;
when the monitoring system monitors that the excavation track executed by the execution system is blocked, the intervention control unit controls the execution system to execute related protection actions to eliminate blocking factors, and then the track tracking unit continues to execute the excavation track or the track re-planning unit makes a new excavation track.
As a further scheme of the invention: and the trajectory replanning unit is also used for optimizing a new excavation trajectory according to the calling information of the intervention control unit.
As a still further scheme of the invention: when the track planning unit controls the execution system to carry out the shoveling of the materials, the track planning unit receives monitoring data of the monitoring system and outputs a new instruction to adjust the execution state of the execution system.
As a still further scheme of the invention: the monitoring system comprises an environmental information acquisition element and a loader state information acquisition element, and is used for respectively acquiring the characteristics of the material pile, the relative position of the material pile and the loader and the state of a bucket of the loader.
As a still further scheme of the invention: the loader state information acquisition element comprises a displacement sensor, a rotary encoder and a pressure sensor, wherein the displacement sensor, the rotary encoder and the pressure sensor are used for monitoring the lifting state, the rotating bucket state and the executing system state of the bucket respectively.
As a still further scheme of the invention: the executing system comprises a hydraulic driving piece, and the hydraulic driving piece comprises a movable arm oil cylinder and a rotating bucket oil cylinder; when the loader is in a first working condition, the intervention control unit controls the swing of the movable arm oil cylinder to reduce the insertion resistance of the bucket; when the loader is in a second working condition, the intervention control unit controls the boom cylinder to lift the bucket so as to increase the friction force of wheels; when the loader is in the third working condition, the intervention control unit controls the rotating bucket oil cylinder to rotate the bucket so that the loader exits from the third working condition.
Compared with the prior art, the invention has the beneficial effects that: the reasonable planning of the excavation track can be carried out on different materials, the full bucket rate of the bucket is improved, the energy consumption is reduced, the intervention can be carried out when the track tracking is difficult, and the excavation track is planned again according to the current state of the loader; the universality and the practicability are high, the hardware layout is simple, the unmanned development of the engineering machinery is promoted, and the application prospect is good.
Drawings
Fig. 1 is a schematic system diagram of an autonomous shovel control method of a loader according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a loader according to an embodiment of the present invention.
Fig. 3 is a schematic view of a hydraulic system of the loader according to the embodiment of the invention.
Fig. 4 is a schematic work flow diagram of an autonomous shovel control method of a loader according to an embodiment of the present invention.
In the drawings: 1. a binocular stereo camera; 2. a laser radar; 3. a displacement sensor A; 4. a displacement sensor B; 5. a rotary encoder; 6. a central controller; 7. a pressure sensor A; 8. a pressure sensor B; 9. a pressure sensor C; 10. a pressure sensor D; 11. a boom cylinder; 12. a rotating bucket oil cylinder; 13. a bucket; 14. a movable arm; 15. a cab.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1-4, in an embodiment of the present invention, a loader includes a monitoring system, a control system, and an execution system, where the control system includes: the track planning unit is used for receiving monitoring data of the monitoring system and making and modifying a digging track of the loader in real time; the trajectory tracking unit is used for controlling the execution system to execute the digging of the materials according to the digging trajectory transmitted by the trajectory planning unit; the intervention control unit is used for taking over the control right of the track tracking unit when the execution system is separated from the digging track or is abnormal, and controlling the execution system to execute related protection actions; and the trajectory replanning unit is used for formulating a new excavation trajectory after the execution system executes the related protection action.
Specifically, the control system comprises a trajectory planning unit, a trajectory tracking unit, an intervention control unit and a trajectory re-planning unit which are integrated on a central controller 6 arranged in a cab 15; the monitoring system monitors relevant information and material relevant information of the loader and transmits the information to the control system, the control system receives data transmitted by the monitoring system and outputs relevant control instructions to control the execution system, and the execution system drives the loader to move and the bucket to dig.
As shown in fig. 4, the loader workflow: firstly, a monitoring system collects information such as the shape, the size, the material particle characteristics and the like of a material pile, transmits the information back to a central controller 6, and classifies the shoveling difficulty degree of the material after processing; then, planning a digging track by a track planning unit according to the digging difficulty degree of the material and the shape information of the material pile; (the cutting track is the movement track of the bucket tip of the bucket when the loader performs the cutting operation, and the operation process of the loader is generally described by the cutting track). And initializing the position of the bucket after the excavation track is generated, wherein the position of the bucket of the loader is not determined before the loading operation, so that the position of the bucket is initialized to facilitate the next work, the loader is controlled to move to a position 2-2.5 meters before the material pile, and then the bucket is moved to the starting point of the planned excavation track. Next, the track tracking unit of the control system starts to work, the digging track is the input of the unit, the control command or signal is the output of the unit, and the control execution system carries out the digging of the materials according to the digging track; the motion state of the loader is detected in real time through the monitoring system and fed back to the track tracking unit, and the control instruction or signal is adjusted, so that the actual shoveling track of the loader conforms to the planned shoveling track.
If the track tracking is not finished, and the execution system is separated from the excavation track or is abnormal, taking over the control right of the track tracking unit and controlling the execution system to execute related protection actions; that is, if the forward movement of the loader is stopped or the boom pressure is excessively high, the tracking control of the ideal trajectory is not performed any more, but the intervention control unit takes over the control right of the execution system. And controls the execution system to execute the relevant protection actions. Specifically, when the monitoring system monitors that the loader stops advancing or the vehicle speed is reduced, the friction force of the wheels is not enough to overcome the resistance of advancing, and at the moment, the boom cylinder 11 arranged on the execution system vibrates the boom 14, so that the friction resistance among material particles is reduced, and the insertion resistance of the bucket 13 is reduced. If the vehicle speed returns to normal, continuing to return the control right of the execution system to the track tracking unit for tracking the excavation track; if the vehicle speed does not return to normal, which means that the forward resistance cannot be reduced to a sufficient level below the friction force of the wheels only through the action of vibrating the boom, at this time, the intervention control unit lifts the boom 14 through the boom cylinder 11 arranged in the control execution system, the weight of the bucket material acts on the loader, the pressure perpendicular to the ground, which is applied to the wheels, is increased, so that the friction force which can be generated by the wheels is increased, and the vehicle enters the trajectory replanning unit after the vehicle speed returns. When the pressure of a movable arm cylinder 11 of the execution system is overlarge, the movable arm cylinder 11 stalls, and in order to reduce the pressure applied to the movable arm cylinder 11, the intervention control unit controls a rotating bucket cylinder 12 arranged in the execution system to perform rotating bucket action until the pressure is reduced to be below a certain degree, and then the intervention control unit enters a trajectory replanning unit. Meanwhile, the calling of the intervention control unit indicates that the planned excavation trajectory is not completely suitable for the material, and the judgment of the difficulty level of material excavation is deviated, so that the calling condition information of the intervention control unit is used as feedback to help the central controller 6 to continuously repair the judgment result of the difficulty level of material excavation.
The trajectory replanning unit of the central controller 6 replans the excavation trajectory according to the current state of the loader, wherein the current state comprises the position and the posture of the bucket, the volume of materials existing in the bucket and other information, and the trajectory replans and then takes the replanned excavation trajectory as the input of the trajectory tracking unit to carry out trajectory tracking control. And if the track tracking is not finished, continuously judging the intervention control condition.
After the track tracking is finished, the loader is controlled to stop advancing, then the rotating bucket oil cylinder is controlled to shake the bucket, so that the gravity center of materials in the bucket is distributed in the middle of the bucket as much as possible, and the materials are prevented from being scattered in the transportation process. And then the loader retreats for a short distance to finish the autonomous shovel loading.
In conclusion, the control system reasonably plans the digging track aiming at different materials or material pairs, so that the full bucket rate of the bucket is improved, and the energy consumption is reduced; and when the shoveling is blocked, the shoveling track can be intervened and optimized, and a new shoveling track is planned again, so that the method is high in universality and practicability, simple in hardware layout, and has a good application prospect, and the unmanned development of engineering machinery is promoted.
Referring to fig. 2-3, in another embodiment of the present invention, the monitoring system includes an environmental information collecting element and a loader state information collecting element for respectively collecting characteristics of the material stack, a relative position of the material stack and the loader, and a state of a bucket of the loader.
The environment information acquisition element comprises a binocular stereo camera 1 and a laser radar 2, the loader state information acquisition element comprises a displacement sensor, a rotary encoder 5 and a pressure sensor, the displacement sensor is divided into a displacement sensor A3 and a displacement sensor B4, and the pressure sensor is a pressure sensor A7, a pressure sensor B8, a pressure sensor C9 and a pressure sensor D10 respectively; the binocular stereo camera 1 and the laser radar 2 collect information such as the shape, size and material particle characteristics of a material pile before and during autonomous excavation of the loader, and collect the positions of a bucket and the material pile of the loader and the load of the bucket; for the planning and optimization and re-planning of the digging path of the control system. In the automatic shoveling process of the loader, the posture of a bucket is monitored by a displacement sensor A3, a displacement sensor B4 and a rotary encoder 5, the running state of an execution system is monitored by a pressure sensor A7, a pressure sensor B8, a pressure sensor C9 and a pressure sensor D10, and the process of automatic shoveling is judged by a central controller 6 according to monitoring data and is subjected to adaptive adjustment so as to ensure the stability, safety and reliability of automatic shoveling.
Referring to fig. 2 and 3, in another embodiment of the present invention, the implement system includes a hydraulic drive that controls the chattering, the swinging, and the lifting of the bucket.
The hydraulic driving part comprises a movable arm oil cylinder 11 and a rotating bucket oil cylinder 12, and a displacement sensor A3 is arranged on the rotating bucket oil cylinder 12 and used for measuring the expansion amount of the rotating bucket oil cylinder 12; and the displacement sensor B4 is arranged on the movable arm oil cylinder 11 and used for measuring the expansion and contraction quantity of the movable arm oil cylinder 11. The rotary encoder 5 is mounted to a wheel side portion for measuring a rotation angle of the wheel. The pressure sensor A7 is installed in an oil inlet oil path of the movable arm oil cylinder 11 and used for measuring the pressure of an oil inlet of the movable arm oil cylinder 11. The pressure sensor B8 is installed on an oil return port oil circuit of the movable arm oil cylinder 11 and used for measuring the pressure of an oil return port of the movable arm oil cylinder 11. The pressure sensor C9 is arranged on an oil inlet oil way of the rotating bucket oil cylinder 12 and used for measuring the pressure of an oil inlet of the rotating bucket oil cylinder 12. The pressure sensor D10 is arranged on an oil return port oil circuit of the rotating bucket oil cylinder 12 and used for measuring the pressure of the oil return port of the rotating bucket oil cylinder 12. The shovel loading state data of the loader in the autonomous shovel loading process are acquired to the control system through the displacement sensors, the rotary encoder 5 and the pressure sensors and are used by the control system.
Referring to fig. 1-4, in another embodiment of the present invention, a method for controlling autonomous shovel loading of a loader, the loader being described above, includes the steps of: the monitoring system monitors relevant information of the loader and relevant material information in real time and transmits the information to the control system; a track planning unit of the control system receives monitoring data of the monitoring system and formulates a digging track of the loader; the trajectory tracking unit controls the execution system to carry out digging of materials according to a digging trajectory output instruction transmitted by the trajectory planning unit; when the monitoring system monitors that the excavation track executed by the execution system is blocked, the intervention control unit controls the execution system to execute related protection actions to eliminate blocking factors, and then the track tracking unit continues to execute the excavation track or the track re-planning unit makes a new excavation track.
Specifically, the monitoring system comprises an environmental information acquisition element and a loader state information acquisition element, and is used for respectively acquiring the characteristics of the material pile, the relative position of the material pile and the loader and the state of a bucket of the loader. The loader state information acquisition element comprises a displacement sensor, a rotary encoder and a pressure sensor, wherein the displacement sensor, the rotary encoder and the pressure sensor are used for monitoring the lifting state, the rotating bucket state and the executing system state of the bucket respectively.
When the loader is in a first working condition, the intervention control unit controls the swing of the movable arm oil cylinder to reduce the insertion resistance of the bucket; when the loader is in a second working condition, the intervention control unit controls the boom cylinder to lift the bucket so as to increase the friction force of wheels; when the loader is in the third working condition, the intervention control unit controls the rotating bucket oil cylinder to rotate the bucket so that the loader exits from the third working condition. The second working condition is that the loader stops moving forward or the vehicle speed is reduced due to overlarge friction force between the materials and the bucket, the second working condition is that the loader stops moving forward due to the fact that the friction force of wheels of the loader is too small due to the fact that the gravity center of the materials in the bucket is too high, and the third working condition is that the pressure of a movable arm is too large due to the fact that the bucket does not rotate. As shown in fig. 4, firstly, the monitoring system collects information such as the shape, size, material particle characteristics and the like of the material pile, transmits the information back to the central controller 6, and classifies the spading difficulty of the material after processing; then, planning a digging track by a track planning unit according to the digging difficulty degree of the material and the shape information of the material pile; (the cutting track is the movement track of the bucket tip of the bucket when the loader performs the cutting operation, and the operation process of the loader is generally described by the cutting track). And initializing the position of the bucket after the excavation track is generated, wherein the position of the bucket of the loader is not determined before the loading operation, so that the position of the bucket is initialized to facilitate the next work, the loader is controlled to move to a position 2-2.5 meters before the material pile, and then the bucket is moved to the starting point of the planned excavation track. Next, the track tracking unit of the control system starts to work, the digging track is the input of the unit, the control command or signal is the output of the unit, and the control execution system carries out the digging of the materials according to the digging track; the motion state of the loader is detected in real time through the monitoring system and fed back to the track tracking unit, and the control instruction or signal is adjusted, so that the actual shoveling track of the loader conforms to the planned shoveling track.
If the track tracking is not finished, and the execution system is separated from the excavation track or is abnormal, taking over the control right of the track tracking unit and controlling the execution system to execute related protection actions; that is, if the forward movement of the loader is stopped or the boom pressure is excessively high, the tracking control of the ideal trajectory is not performed any more, but the intervention control unit takes over the control right of the execution system. And controls the execution system to execute the relevant protection actions. Specifically, when the monitoring system monitors that the loader stops advancing or the vehicle speed is reduced, the friction force of the wheels is not enough to overcome the resistance of advancing, and at the moment, the boom cylinder 11 arranged on the execution system vibrates the boom 14, so that the friction resistance among material particles is reduced, and the insertion resistance of the bucket 13 is reduced. If the vehicle speed returns to normal, continuing to return the control right of the execution system to the track tracking unit for tracking the excavation track; if the vehicle speed does not return to normal, which means that the forward resistance cannot be reduced to a sufficient level below the friction force of the wheels only through the action of vibrating the boom, at this time, the intervention control unit lifts the boom 14 through the boom cylinder 11 arranged in the control execution system, the weight of the bucket material acts on the loader, the pressure perpendicular to the ground, which is applied to the wheels, is increased, so that the friction force which can be generated by the wheels is increased, and the vehicle enters the trajectory replanning unit after the vehicle speed returns. When the pressure of a movable arm cylinder 11 of the execution system is overlarge, the movable arm cylinder 11 stalls, and in order to reduce the pressure applied to the movable arm cylinder 11, the intervention control unit controls a rotating bucket cylinder 12 arranged in the execution system to perform rotating bucket action until the pressure is reduced to be below a certain degree, and then the intervention control unit enters a trajectory replanning unit.
The trajectory replanning unit of the central controller 6 replans the excavation trajectory according to the current state of the loader, wherein the current state comprises the position and the posture of the bucket, the volume of materials existing in the bucket and other information, and the trajectory replans and then takes the replanned excavation trajectory as the input of the trajectory tracking unit to carry out trajectory tracking control. And if the track tracking is not finished, continuously judging the intervention control condition.
After the track tracking is finished, the loader is controlled to stop advancing, then the rotating bucket oil cylinder is controlled to shake the bucket, so that the gravity center of materials in the bucket is distributed in the middle of the bucket as much as possible, and the materials are prevented from being scattered in the transportation process. And then the loader retreats for a short distance to finish the autonomous shovel loading.
In conclusion, the control system reasonably plans the digging track aiming at different materials or material pairs, so that the full bucket rate of the bucket is improved, and the energy consumption is reduced; and when the shoveling is blocked, the shoveling track can be intervened and optimized, and a new shoveling track is planned again, so that the method is high in universality and practicability, simple in hardware layout, and has a good application prospect, and the unmanned development of engineering machinery is promoted.
In a preferred embodiment of the present invention, the trajectory replanning unit further optimizes the new excavation trajectory according to the call information of the intervention control unit.
The central controller collects calling information of the intervention control unit for reference of next excavation trajectory planning of the trajectory planning unit and the trajectory re-planning unit, so that the excavation trajectory of the loader for autonomous excavation is continuously improved, the bucket filling rate is improved, and the energy consumption is reduced.
Further, when the trajectory planning unit controls the execution system to shovel materials, the trajectory planning unit receives monitoring data of the monitoring system and outputs a new instruction to adjust the execution state of the execution system.
It should be noted that the central controller, the displacement sensor, the rotary encoder and the pressure sensor used in the present invention are all prior art applications, and those skilled in the art can implement the intended functions according to the related description, or implement the technical features required to be achieved by similar techniques, and will not be described in detail herein.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A loader comprising a monitoring system, a control system and an execution system, wherein the control system comprises:
the track planning unit is used for receiving monitoring data of the monitoring system and making and modifying a digging track of the loader in real time;
the trajectory tracking unit is used for controlling the execution system to execute the digging of the materials according to the digging trajectory transmitted by the trajectory planning unit; the intervention control unit is used for taking over the control right of the track tracking unit when the execution system is separated from the digging track or is abnormal, and controlling the execution system to execute related protection actions; and the trajectory replanning unit is used for formulating a new excavation trajectory after the execution system executes the related protection action.
2. The loader of claim 1, wherein the monitoring system monitors information related to the loader and information related to the material and transmits the information to the control system, and the control system receives data transmitted by the monitoring system and outputs related control instructions to control the execution system, and the execution system drives a bucket of the loader to shovel the material.
3. The loader of claim 2, wherein the monitoring system comprises an environmental information gathering element and a loader state information gathering element for gathering characteristics of the stack, a relative position of the stack and the loader, and a state of a bucket of the loader, respectively.
4. The loader of claim 2, in which said implement system comprises a hydraulic drive that controls the chattering, tipping and lifting of the bucket.
5. A method of controlling autonomous shovel loading of a loader according to any one of claims 1 to 4, characterized in that it comprises the following steps:
the monitoring system monitors relevant information of the loader and relevant material information in real time and transmits the information to the control system;
a track planning unit of the control system receives monitoring data of the monitoring system and formulates a digging track of the loader;
the trajectory tracking unit controls the execution system to carry out digging of materials according to a digging trajectory output instruction transmitted by the trajectory planning unit;
when the monitoring system monitors that the excavation track executed by the execution system is blocked, the intervention control unit controls the execution system to execute related protection actions to eliminate blocking factors, and then the track tracking unit continues to execute the excavation track or the track re-planning unit makes a new excavation track.
6. The method for controlling autonomous shovel loading of a loader according to claim 5, wherein the trajectory replanning unit further optimizes the new shovel trajectory based on the invocation information of the intervention control unit.
7. The autonomous shovel control method of a loader according to claim 5, wherein when the trajectory planning unit controls the execution system to shovel the material, the trajectory planning unit receives monitoring data of the monitoring system and outputs a new instruction to adjust the execution state of the execution system.
8. The autonomous shovel control method of a loader of claim 5, wherein the monitoring system comprises an environmental information acquisition element and a loader state information acquisition element that respectively acquire characteristics of the material stack, a relative position of the material stack and the loader, and a state of a bucket of the loader.
9. The autonomous shovel control method of a loader according to claim 8, wherein the loader state information acquisition element includes a displacement sensor, a rotary encoder, and a pressure sensor, and the displacement sensor, the rotary encoder, and the pressure sensor monitor a lifting state of the bucket, a turning state of the bucket, and a state of the implement system, respectively.
10. The loader autonomous shovel control method of claim 5, wherein the implement system includes a hydraulic drive including a boom cylinder and a curl cylinder; when the loader is in a first working condition, the intervention control unit controls the swing of the movable arm oil cylinder to reduce the insertion resistance of the bucket; when the loader is in a second working condition, the intervention control unit controls the boom cylinder to lift the bucket so as to increase the friction force of wheels; when the loader is in the third working condition, the intervention control unit controls the rotating bucket oil cylinder to rotate the bucket so that the loader exits from the third working condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011157156.2A CN112211248A (en) | 2020-10-26 | 2020-10-26 | Loader and autonomous shovel loading control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011157156.2A CN112211248A (en) | 2020-10-26 | 2020-10-26 | Loader and autonomous shovel loading control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112211248A true CN112211248A (en) | 2021-01-12 |
Family
ID=74055305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011157156.2A Pending CN112211248A (en) | 2020-10-26 | 2020-10-26 | Loader and autonomous shovel loading control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112211248A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113463719A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | Loader autonomous operation control system and method |
| CN115110600A (en) * | 2022-08-16 | 2022-09-27 | 徐工集团工程机械股份有限公司科技分公司 | Self-adaptive force feedback shoveling control device and method for loader |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060090378A1 (en) * | 2004-09-01 | 2006-05-04 | Ken Furem | Method for an autonomous loading shovel |
| CN103615025A (en) * | 2013-11-20 | 2014-03-05 | 广西柳工机械股份有限公司 | Loader and control method for loading operation of loader |
| CN106795705A (en) * | 2014-10-13 | 2017-05-31 | 山特维克矿山工程机械有限公司 | Arrangement for controlling work mechanism |
| CN106836364A (en) * | 2017-01-17 | 2017-06-13 | 大连理工大学 | The automatic control system and optimal trajectory planning method of intelligent excavator |
| CN108222093A (en) * | 2018-01-02 | 2018-06-29 | 清华大学 | A kind of autonomous soil-shifting robot |
-
2020
- 2020-10-26 CN CN202011157156.2A patent/CN112211248A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060090378A1 (en) * | 2004-09-01 | 2006-05-04 | Ken Furem | Method for an autonomous loading shovel |
| CN103615025A (en) * | 2013-11-20 | 2014-03-05 | 广西柳工机械股份有限公司 | Loader and control method for loading operation of loader |
| CN106795705A (en) * | 2014-10-13 | 2017-05-31 | 山特维克矿山工程机械有限公司 | Arrangement for controlling work mechanism |
| CN106836364A (en) * | 2017-01-17 | 2017-06-13 | 大连理工大学 | The automatic control system and optimal trajectory planning method of intelligent excavator |
| CN108222093A (en) * | 2018-01-02 | 2018-06-29 | 清华大学 | A kind of autonomous soil-shifting robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113463719A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | Loader autonomous operation control system and method |
| CN115110600A (en) * | 2022-08-16 | 2022-09-27 | 徐工集团工程机械股份有限公司科技分公司 | Self-adaptive force feedback shoveling control device and method for loader |
| CN115110600B (en) * | 2022-08-16 | 2023-11-28 | 徐工集团工程机械股份有限公司科技分公司 | Self-adaptive force feedback shoveling control device and method for loader |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8024095B2 (en) | Adaptive work cycle control system | |
| AU2020200916B2 (en) | System and method for controlling the operation of a machine | |
| US9587369B2 (en) | Excavation system having adaptive dig control | |
| US7917265B2 (en) | System for automated excavation control based on productivity | |
| AU2017251828B2 (en) | System and method for moving material | |
| AU2013260731B2 (en) | System and method for optimizing a cut location | |
| KR102309862B1 (en) | Hydraulic system of construction machinery | |
| US8160783B2 (en) | Digging control system | |
| US10552775B2 (en) | System and method for optimizing a material moving operation | |
| US9850639B2 (en) | Excavation system having velocity based work tool shake | |
| US9702115B1 (en) | Autonomous method for detecting a pile | |
| AU2016200300A1 (en) | Control system having tool tracking | |
| JP7502332B2 (en) | System for controlling the position of a work implement | |
| US9938688B2 (en) | Excavation system providing impact detection | |
| CN112211248A (en) | Loader and autonomous shovel loading control method thereof | |
| US7350611B2 (en) | Method for controlling an electric drive machine | |
| AU2014263098A1 (en) | System and method for re-directing a ripping path | |
| US6618967B2 (en) | Work machine control for improving cycle time | |
| US8296019B2 (en) | Autoload system for excavation based on productivity | |
| CN112196004B (en) | Automatic shovel loading dynamic control method of loader based on segmented shovel loading method | |
| Corke et al. | Dragline automation: Experimental evaluation through productivity trial | |
| Halbach et al. | Automated pile transfer work cycles with a robotic wheel loader | |
| US20230024622A1 (en) | Systems and methods for control of excavators and other power machines | |
| US10669693B2 (en) | System and method for controlling a machine through an interrupted operation | |
| JPS6344029A (en) | Automatic excavator for loader |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210112 |