CN109208666A - A kind of control system and control method of laser-control flattening bulldozer - Google Patents
A kind of control system and control method of laser-control flattening bulldozer Download PDFInfo
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- CN109208666A CN109208666A CN201811333771.7A CN201811333771A CN109208666A CN 109208666 A CN109208666 A CN 109208666A CN 201811333771 A CN201811333771 A CN 201811333771A CN 109208666 A CN109208666 A CN 109208666A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 208000028804 PERCHING syndrome Diseases 0.000 claims abstract description 49
- 238000012544 monitoring process Methods 0.000 claims abstract description 22
- 230000009466 transformation Effects 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims description 53
- 238000004458 analytical method Methods 0.000 claims description 15
- 230000009897 systematic effect Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000035515 penetration Effects 0.000 claims description 6
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- 238000001228 spectrum Methods 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 5
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- 230000010354 integration Effects 0.000 claims description 4
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- 238000004364 calculation method Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 14
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- 238000002474 experimental method Methods 0.000 description 3
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- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
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- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to laser controlling bull-dozer technical fields, disclose the control system and control method of a kind of laser-control flattening bulldozer, the control system of laser-control flattening bulldozer, comprising: laser signal transmitting module, laser signal receiving module, main control module, signal identification module, signal judgment module, height adjustment module, working state monitoring module, data memory module, display module.The present invention effectively inhibits the influence of noise by signal identification module, improves the accuracy of identification of amplitude-frequency modulation depth, compared with the method for direct Fourier transformation, the accuracy of frequency identification can be improved；Simultaneously, by working state monitoring module according to pre-establishing database, and real-time collecting work parameter access database, carry out the working status parameter that analytical calculation shows current perching knife, facilitate operator accurately to adjust perching knife parameter, improve operating efficiency, reduces labor intensity, maloperation is prevented, working efficiency and precision are improved.
Description
Technical field
The invention belongs to laser controlling bull-dozer technical field more particularly to a kind of controls of laser-control flattening bulldozer
System and control method.
Background technique
Bull-dozer is a kind of earthmoving equipment for being able to carry out excavation, transporting and dump ground, is had extensively in opencut
Purposes.For example, smooth truck spoilbank heaps the ore-rock of dispersion, finishing operations square position and Architecture Field for building refuse dump
Ground etc..It is applied not only to back work, it can also be used to mainly exploit work.Such as: the removing and mining of placer, scraper and
The traction and boosting for ploughing rock machine cooperate other earthmoving machinerys to reduce stripping bench height etc. in course stacking method.Bull-dozer
Crawler type and two kinds of rubber-tyred can be divided into.Crawler dozer attachment tractive force is big, and grounding pressure is small (0.04 1 0.13MPa),
Climbing capacity is strong, but travel speed is low.Wheeled dozer travel speed is high, and maneuverability, cycle time for working is short, and transport turns
It is convenient to move, but tractive force is small, the case where suitable for need to often convert building site and field work.Bull-dozer is earthmoving equipment
A kind of major mechanical is divided into two kinds of of crawler type and rubber-tyred by walking manner because wheeled dozer is less.It mainly says herein
State the structure & working mechanism of crawler dozer.The elemental operation that bull-dozer excavates is: A. shovel soil B. muck haulage C. unloads soil.So
And it is existing big to laser signal identification error, influence the planarization of smooth location；
The source of error of laser signal variation difference is analyzed, it substantially can be with according to the characteristic of error in signal
Be divided into three kinds: the first is systematic error, i.e., under identical experiment condition, after carrying out Multi simulation running for identical value, accidentally
Difference remains unchanged.Usual systematic error has certain regularity, takes certain technical measures that can eliminate or reduce systematic error.The
Two kinds are random errors, i.e., under identical experiment condition, after multiple experiment simulation is carried out for identical value, and the mistake of generation
Difference has uncertainty.Systematic error has no idea to look for rule, and Producing reason is varied, as experimental situation noise,
Electromagnetic interference etc..For random error, handled using random process correlation theory.The third is gross error, i.e., this mistake
For difference compares other error amounts, numerical value is significant, and then becomes gross error.
In conclusion problem of the existing technology is:
It is existing big to laser signal identification error, influence the planarization of smooth location；Meanwhile there has been no real-time monitorings at present
The method of perching knife working condition, perching knife pose adjustment is entirely with the experience of operator, and labor intensity is high, and accuracy and efficiency are relatively low,
Sometimes it is also easy to maloperation, such as extreme position inclination, perching knife easy to damage, there are security risks.
In the prior art, judge that laser signal changes difference；Using constraint rule to laser signal change difference into
Row removal；Error fit is carried out to the systematic error of generation, random error cannot be reduced.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of control system of laser-control flattening bulldozer and
Control method.
The invention is realized in this way a kind of control method of laser-control flattening bulldozer, comprising:
Judge that laser signal changes difference using signal judging circuit；The probe integrated in signal judging circuit judges laser
In signal intensity difference, laser signal variation difference is removed using constraint rule；The systematic error of generation is missed
Difference fitting, reduces random error；
The height of bulldozing shovel blade is adjusted according to signal difference using adjusting circuit；
Setting adjusts the height critical value of a bulldozing shovel blade of the central processing unit of circuit integration；
Judge that a maximum can handle load capacity according to the height critical value of bulldozing shovel blade；
Multiple first tasks are combined into one first continuous work task according to platform power administrative skill is collected；
Judge whether a load capacity of the first continuous work task is greater than maximum and can handle load capacity；
It, will be in the first continuous work task when the load capacity of the first continuous work task, which is greater than maximum, to handle load capacity
One of overload part the first task remove the first continuous work task；
When receiving the first continuous work task, central processing unit is switched into an operation mode by a suspend mode,
And the first continuous work task of processing；And after the completion of the processing of the first continuous work task, central processing unit is set as stopping
Sleep mode；Realize the adjusting of the height of bulldozing shovel blade.
Further, carrying out error fit to the systematic error of generation includes:
In curve matching, carried out curve fitting with polynomial of degree n Pn (x), the judgment criterion of the error of Pn (x) and original function
There are three types of: best square fitting, best uniform fitting and least square fitting；In curve matching, the most commonly used is minimum
Two multiply fitting of a polynomial, as follows:
It sets polynomial of degree n Pn (x) are as follows:
So, the error obtained are as follows:
To make error Q minimum need to seek a herein0, a1..., an, according to the method for seeking extreme value, need to a0, a1..., an
Local derviation is sought, then partial derivative is made to be zero, obtains a0, a1..., an；Following equation group should be met
It arranges, obtain formula after expansion
Indicate that equation group is with the mode of matrix
It solves, obtains a0, a1..., an, substitute into following formula and obtain least square method polynomial fitting
The operating frequency of central processing unit has a normal operating frequency under general operation；
One first operation frequency is determined according to the height critical value of the load capacity of the first continuous work task and bulldozing shovel blade
Rate；
And when central processing unit switches to operation mode, by the operating frequency of central processing unit by normal operating frequency
It is promoted to the first operating frequency, and the first continuous work task is handled by the first operating frequency；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
Central processing unit control method further include:
It is electric according to platform is collected after the processing of the first continuous work task is completed and central processing unit enters suspend mode
First task of multiple second tasks and part of overloading is combined into one second continuous work and appointed by source control technology
Business；
When receiving the second continuous work task, central processing unit is switched into operation mode by suspend mode；
The operating frequency of central processing unit is promoted to one second operating frequency by normal operating frequency, passes through the second operation
Frequency processing the second continuous work task；And after the completion of the processing of the second continuous work task, central processing unit is set as stopping
Sleep mode；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
First continuous work task is handled the time point completed and starts to connect by central processing unit using the first operating frequency
Receiving had for one first interval time between the time point of the second continuous work task, and used normal frequency by the first continuous work
Make task processing to complete and receive with one second interval time between the second continuous work task, wherein the first interval time
Less than the second interval time.
Further, the control method of the laser-control flattening bulldozer specifically includes:
Step 1 utilizes laser transmitter projects laser signal by laser signal transmitting module；It is connect by laser signal
It receives module and receives laser signal using laser pickoff；
Step 2, main control module carry out identification laser signal using signal recognition circuit by signal identification module；
Step 3 judges that laser signal changes difference using signal judging circuit by signal judgment module；Pass through height
Adjustment module adjusts the height of bulldozing shovel blade using adjusting circuit according to signal difference；
Step 4 is monitored by working state monitoring module using working condition of the observation circuit to perching knife；
Step 5 stores perching knife operating state data information using memory by data memory module；And pass through display
Module shows perching knife operating state data information using display.
Further, signal recognition method includes:
(1) pulse laser through Spatial transmission is converted into electric signal by photoelectric tube, through oscilloscope measurement electric signal, obtains
The time waveform of the pulse laser；
(2) substrate for calculating and filtering out the time waveform of pulse laser obtains analysis signal f (t), specifically: choosing and surveys
It measures and has amplitude-frequency modulated signal part I0 among signal, carry out fitting of a polynomial to amplitude-frequency modulated signal part I0, obtain
Basal signal Ibase, the difference of amplitude-frequency modulated signal part I0 and basal signal Ibase, as analysis signal f (t)；
(3) according to Spatial transmission frequency, complete dictionary was constructed, the atom vector form of excessively complete dictionary is as follows:
gk(t)=sin (2 π fmt+φn)；
In formula, phasen=2 π n/N, frequency fm=f0+ (m/M-0.5) Δ f, n ∈ [0, N), and m ∈ [0, M), f0Centered on
Frequency, Δ f are spectrum width, and N is the hits of phase, and M is the hits of frequency；
(4) sparse decomposition is carried out to analysis signal f (t) using excessively complete dictionary, obtains feature rarefaction representation coefficient；
(5) signal is reconstructed according to feature rarefaction representation coefficient, obtains amplitude-frequency modulation depth, finally, believing reconstruct
Number carry out Fourier transformation, obtain analysis signal frequency spectrum.
Further, working state monitoring module monitors method includes:
1) database is pre-established；
2) collecting work parameter, including acquisition bearing diagonal hinge distance value XLC, left lift cylinder hinge distance value in real time
LLC, right lift cylinder hinge distance value RLC and dump ram hinge distance value TLC；
3) database is accessed by running parameter, carries out data analysis；
4) working status parameter of current perching knife is shown；
Carrying out data analysis includes:
Judge whether perching knife is in extreme position inclination operating condition, if so, determining that this movement of perching knife is dangerous play, issues
Operational hazards warning；Otherwise, the working status parameter of current perching knife is obtained；
Prestored in the database lift cylinder greatest limit stroke Lmax, lift cylinder setting error amount Δ lmax,
Dump ram sets error amount Δ t；
If | LLC-Lmax |≤Δ lmax or | RLC-Lmax |≤Δ lmax, and | XLC-TLC | > Δ t then determines to shovel
Knife is in extreme position inclination operating condition；
The working status parameter for obtaining current perching knife, comprising:
According to the bearing diagonal hinge distance XL and angle of penetration in the bearing diagonal hinge distance value XLC inquiry database measured
A relation curve data check in bearing diagonal hinge distance value XL, and angle of penetration A corresponding with XL is the shovel under current state at this time
Knife penetrating angle angle value Ap；
The difference of the bearing diagonal hinge distance value XLC for judging to measure and the dump ram hinge distance value TLC measured
Whether within a preset range, if so, determining current perching knife for horizontal position, otherwise, it is determined that current perching knife is lateral attitude.
It is described to swash another object of the present invention is to provide a kind of control computer program of laser-control flattening bulldozer
The control computer program of photocontrol flattening bulldozer realizes the control computer program of the laser-control flattening bulldozer.
Another object of the present invention is to provide a kind of terminal, the terminal, which is at least carried, realizes the laser-control flattening
The controller of the control method of bull-dozer.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the control method of the laser-control flattening bulldozer.
Another object of the present invention is to provide a kind of control system of laser-control flattening bulldozer, the laser controlling
The control system of flattening bulldozer includes:
Laser signal transmitting module, connect with main control module, for passing through laser transmitter projects laser signal；
Laser signal receiving module, connect with main control module, for receiving laser signal by laser pickoff；
Main control module judges mould with laser signal transmitting module, laser signal receiving module, signal identification module, signal
Block, height adjustment module, working state monitoring module, data memory module, display module connection, for being controlled by single-chip microcontroller
Modules work normally；
Signal identification module, connect with main control module, for carrying out identification laser signal by signal recognition circuit；
Signal judgment module, connect with main control module, for judging that laser signal changes difference by signal judging circuit；
Height adjustment module is connect with main control module, for adjusting bulldozing shovel blade according to signal difference by adjusting circuit
Height；
Working state monitoring module, connect with main control module, for being carried out by working condition of the observation circuit to perching knife
Monitoring；
Data memory module is connect with main control module, for storing perching knife operating state data information by memory；
Display module is connect with main control module, for showing perching knife operating state data information by display.
Another object of the present invention is to provide the control systems that one kind at least carries the laser-control flattening bulldozer
Laser-control flattening bulldozer.
Advantages of the present invention and good effect are as follows:
The present invention effectively inhibits the influence of noise by signal identification module, improves the identification essence of amplitude-frequency modulation depth
Degree, compared with the method for direct Fourier transformation, can be improved the accuracy of frequency identification；Meanwhile passing through working state monitoring
Module carries out analytical calculation and shows current perching knife according to database, and real-time collecting work parameter access database is pre-established
Working status parameter, operator can be made to understand and know perching knife current pose, operator is facilitated accurately to adjust perching knife parameter, improve
Operating efficiency reduces labor intensity, prevents maloperation, improves working efficiency and precision.
The present invention judges in laser signal variation difference, is removed using constraint rule to laser signal variation difference；
Error fit is carried out to the systematic error of generation, reduces random error.
The present invention judges in laser signal variation difference that it is quasi- to carry out least square method polynomial curve to two groups of data respectively
It closes, fits the error curve under 2 ranks to 7 ranks, two groups of fitting results are all order when being 6 rank, and fitting precision highest will be verified
The error curve comparison of the error curve and test set of collection is it can be found that as the position of probe up-sampling point is far from bulldozing shovel blade
Obvious region, error amount become larger；Pass through the bulldozing shovel blade peak-to the sampled point corresponding with verifying collection of test set in matched curve
It is poor that height peak value is made, and obtains that two curve overall permanences are consistent, characterization test in Error processing method it is feasible, and test set obtains
The precision characteristic of the image capturing system obtained can represent the overall precision characteristic of system.
The present invention is adjusted using adjusting circuit according to signal difference in the height of bulldozing shovel blade,
Setting adjusts the height critical value of a bulldozing shovel blade of the central processing unit of circuit integration；
Judge that a maximum can handle load capacity according to the height critical value of bulldozing shovel blade；
Multiple first tasks are combined into one first continuous work task according to platform power administrative skill is collected；
Judge whether a load capacity of the first continuous work task is greater than maximum and can handle load capacity；
It, will be in the first continuous work task when the load capacity of the first continuous work task, which is greater than maximum, to handle load capacity
One of overload part the first task remove the first continuous work task；The altitude information of bulldozing shovel blade can accurately be adjusted.
Detailed description of the invention
Fig. 1 is the control method flow chart that the present invention implements the laser-control flattening bulldozer provided.
Fig. 2 is the Control system architecture block diagram that the present invention implements the laser-control flattening bulldozer provided.
In figure: 1, laser signal transmitting module；2, laser signal receiving module；3, main control module；4, signal identification module；
5, signal judgment module；6, height adjustment module；7, working state monitoring module；8, data memory module；9, display module.
Fig. 3 be the present invention implement provide by polynomial power series n from 2 ranks be fitted to 7 ranks figure.
Fig. 4 be the present invention implement provide polynomial power series are fitted to 7 ranks, matched curve figure from 2 ranks.
Fig. 5 be the present invention implement 27 sampled points by verifying collection provided error fit curve and 27 of test set
The error fit curve of sampled point compares figure
Fig. 6 be the present invention implement provide calculate the difference that the detection error of sampled point is corresponded on two error fit curves
Figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
With reference to the accompanying drawing and specific embodiment is further described application principle of the invention.
As shown in Figure 1, the control method of laser-control flattening bulldozer provided in an embodiment of the present invention, including following step
It is rapid:
S101 utilizes laser transmitter projects laser signal by laser signal transmitting module；It is received by laser signal
Module receives laser signal using laser pickoff；
S102, main control module carry out identification laser signal using signal recognition circuit by signal identification module；
S103 judges that laser signal changes difference using signal judging circuit by signal judgment module；It is adjusted by height
Save the height that module adjusts bulldozing shovel blade using adjusting circuit according to signal difference；
S104 is monitored by working state monitoring module using working condition of the observation circuit to perching knife；
S105 stores perching knife operating state data information using memory by data memory module；And pass through display mould
Block shows perching knife operating state data information using display.
As shown in Fig. 2, the control system of laser-control flattening bulldozer provided in an embodiment of the present invention includes: laser signal
Transmitting module 1, laser signal receiving module 2, main control module 3, signal identification module 4, signal judgment module 5, height adjustment mould
Block 6, working state monitoring module 7, data memory module 8, display module 9.
Laser signal transmitting module 1 is connect with main control module 3, for passing through laser transmitter projects laser signal；
Laser signal receiving module 2 is connect with main control module 3, for receiving laser signal by laser pickoff；
Main control module 3 is sentenced with laser signal transmitting module 1, laser signal receiving module 2, signal identification module 4, signal
Disconnected module 5, height adjustment module 6, working state monitoring module 7, data memory module 8, display module 9 connect, for passing through
Single-chip microcontroller controls modules and works normally；
Signal identification module 4 is connect with main control module 3, for carrying out identification laser signal by signal recognition circuit；
Signal judgment module 5 is connect with main control module 3, for judging laser signal difference in change by signal judging circuit
Value；
Height adjustment module 6 is connect with main control module 3, for adjusting dozer according to signal difference by adjusting circuit
The height of knife；
Working state monitoring module 7 is connect with main control module 3, for by observation circuit to the working condition of perching knife into
Row monitoring；
Data memory module 8 is connect with main control module 3, for storing perching knife operating state data information by memory；
Display module 9 is connect with main control module 3, for showing perching knife operating state data information by display.
4 recognition methods of signal identification module provided by the invention is as follows:
(1) pulse laser through Spatial transmission is converted into electric signal by photoelectric tube, through oscilloscope measurement electric signal, obtains
The time waveform of the pulse laser；
(2) substrate for calculating and filtering out the time waveform of pulse laser obtains analysis signal f (t), specifically: choosing and surveys
It measures and has amplitude-frequency modulated signal part I0 among signal, carry out fitting of a polynomial to amplitude-frequency modulated signal part I0, obtain
Basal signal Ibase, the difference of amplitude-frequency modulated signal part I0 and basal signal Ibase, as analysis signal f (t)；
(3) according to Spatial transmission frequency, complete dictionary was constructed, the atom vector form of excessively complete dictionary is as follows:
gk(t)=sin (2 π fmt+φn)；
In formula, phasen=2 π n/N, frequency fm=f0+ (m/M-0.5) Δ f, n ∈ [0, N), and m ∈ [0, M), f0Centered on
Frequency, Δ f are spectrum width, and N is the hits of phase, and M is the hits of frequency；
(4) sparse decomposition is carried out to analysis signal f (t) using excessively complete dictionary, obtains feature rarefaction representation coefficient；
(5) signal is reconstructed according to feature rarefaction representation coefficient, obtains amplitude-frequency modulation depth, finally, believing reconstruct
Number carry out Fourier transformation, obtain analysis signal frequency spectrum.
7 monitoring method of working state monitoring module provided by the invention is as follows:
1) database is pre-established；
2) collecting work parameter, including acquisition bearing diagonal hinge distance value XLC, left lift cylinder hinge distance value in real time
LLC, right lift cylinder hinge distance value RLC and dump ram hinge distance value TLC；
3) database is accessed by running parameter, carries out data analysis；
4) working status parameter of current perching knife is shown.
Progress data provided by the invention are analyzed
Judge whether perching knife is in extreme position inclination operating condition, if so, determining that this movement of perching knife is dangerous play, issues
Operational hazards warning；Otherwise, the working status parameter of current perching knife is obtained.
Lift cylinder greatest limit stroke Lmax, lift cylinder setting error amount are prestored in database provided by the invention
Δ lmax, dump ram set error amount Δ t；
If | LLC-Lmax |≤Δ lmax or | RLC-Lmax |≤Δ lmax, and | XLC-TLC | > Δ t then determines to shovel
Knife is in extreme position inclination operating condition.
The working status parameter provided by the invention for obtaining current perching knife, comprising:
According to the bearing diagonal hinge distance XL and angle of penetration in the bearing diagonal hinge distance value XLC inquiry database measured
A relation curve data check in bearing diagonal hinge distance value XL, and angle of penetration A corresponding with XL is the shovel under current state at this time
Knife penetrating angle angle value Ap.
The bearing diagonal hinge distance value XLC provided by the invention for judging to measure and the dump ram hinge distance value measured
The difference of TLC whether within a preset range, if so, determining current perching knife for horizontal position, otherwise, it is determined that current perching knife is to incline
Oblique posture.
The control method of laser-control flattening bulldozer provided in an embodiment of the present invention, comprising:
Judge that laser signal changes difference using signal judging circuit；The probe integrated in signal judging circuit judges laser
In signal intensity difference, laser signal variation difference is removed using constraint rule；The systematic error of generation is missed
Difference fitting, reduces random error；
The height of bulldozing shovel blade is adjusted according to signal difference using adjusting circuit；
Setting adjusts the height critical value of a bulldozing shovel blade of the central processing unit of circuit integration；
Judge that a maximum can handle load capacity according to the height critical value of bulldozing shovel blade；
Multiple first tasks are combined into one first continuous work task according to platform power administrative skill is collected；
Judge whether a load capacity of the first continuous work task is greater than maximum and can handle load capacity；
It, will be in the first continuous work task when the load capacity of the first continuous work task, which is greater than maximum, to handle load capacity
One of overload part the first task remove the first continuous work task；
When receiving the first continuous work task, central processing unit is switched into an operation mode by a suspend mode,
And the first continuous work task of processing；And after the completion of the processing of the first continuous work task, central processing unit is set as stopping
Sleep mode；Realize the adjusting of the height of bulldozing shovel blade.
Further, carrying out error fit to the systematic error of generation includes:
In curve matching, carried out curve fitting with polynomial of degree n Pn (x), the judgment criterion of the error of Pn (x) and original function
There are three types of: best square fitting, best uniform fitting and least square fitting；In curve matching, the most commonly used is minimum
Two multiply fitting of a polynomial, as follows:
It sets polynomial of degree n Pn (x) are as follows:
So, the error obtained are as follows:
To make error Q minimum need to seek a herein0, a1..., an, according to the method for seeking extreme value, need to a0, a1..., an
Local derviation is sought, then partial derivative is made to be zero, obtains a0, a1..., an；Following equation group should be met
It arranges, obtain formula after expansion
Indicate that equation group is with the mode of matrix
It solves, obtains a0, a1..., an, substitute into following formula and obtain least square method polynomial fitting
The operating frequency of central processing unit has a normal operating frequency under general operation；
One first operation frequency is determined according to the height critical value of the load capacity of the first continuous work task and bulldozing shovel blade
Rate；
And when central processing unit switches to operation mode, by the operating frequency of central processing unit by normal operating frequency
It is promoted to the first operating frequency, and the first continuous work task is handled by the first operating frequency；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
Central processing unit control method further include:
It is electric according to platform is collected after the processing of the first continuous work task is completed and central processing unit enters suspend mode
First task of multiple second tasks and part of overloading is combined into one second continuous work and appointed by source control technology
Business；
When receiving the second continuous work task, central processing unit is switched into operation mode by suspend mode；
The operating frequency of central processing unit is promoted to one second operating frequency by normal operating frequency, passes through the second operation
Frequency processing the second continuous work task；And after the completion of the processing of the second continuous work task, central processing unit is set as stopping
Sleep mode；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
First continuous work task is handled the time point completed and starts to connect by central processing unit using the first operating frequency
Receiving had for one first interval time between the time point of the second continuous work task, and used normal frequency by the first continuous work
Make task processing to complete and receive with one second interval time between the second continuous work task, wherein the first interval time
Less than the second interval time.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
Below with reference to concrete analysis, the invention will be further described.
The present invention judges that laser signal changes in difference using signal judging circuit by signal judgment module,
In binocular vision pulse image capturing system precision analysis based on laser displacement sensor,
These data points, are called bad point by the abnormal data of the generations such as acquisition, these points can seriously affect data fitting essence
Degree, so being rejected.After rejecting bad point, least square is utilized to 27 strong sampling point tolerances of correlation in test set
Method polynomial curve fitting.By consulting pertinent literature, find in fit range appropriate, the power series of fitting are higher, intend
It is better to close effect.According to previous data fitting empirical, in data fitting, 2-7 rank matched curve comparison is usually selected, is therefrom sought
The optimal fitting curve looked for can characterize the error characteristics of system, and polynomial power series n is fitted to 7 ranks such as Fig. 3 institute from 2 ranks
Show.
Matched curve when (a)~figure (f) illustrates different rank fitting is schemed in Fig. 3.Evaluate the finger of matched curve precision
Being marked in table is indicated by R-Squre (fitting precision), which is worth bigger, the curve of fitting between 0~1
Precision is higher, and the trend that can reflect data point distribution is got in matched curve at this time.It is every when performance fitting order difference for clarity
The value of coefficient lists each term coefficient that table 1 characterizes matched curve expression formula.
It can be found that fitting precision R-Squre is 0.90412, and the other values that compare are more nearly when order is 6 rank
1, so being fitted using 6 rank multinomial of least square method.Obtained expression formula is fitted to be shown below.Wherein x represents sampled point,
Y Representative errors value.
Y=0.0156+0.00125x-4.2201 × e-4×x2+6.1664×e-5×x3-4.1889×e-6×x4+
1.3364×e-7×x5-1.6191×e-9×x6。
Below with reference to test set error fit result verification and analysis, the invention will be further described.
Test set carries out the fitting of multinomial least square method to 27 sampled points, obtains the error fit curve of sampled point
And expression formula, in order to which whether the error fit curve of abundant validation test collection accurately reflects the whole of image capturing system error
The error amount that verifying collects 27 sampled points is carried out least square polynomial curve fitting, by polynomial power series by bulk properties
7 ranks, matched curve such as Fig. 4 are fitted to from 2 ranks
Matched curve when (a)~figure (f) shows respectively different fitting orders is schemed from Fig. 4, when order is 6 rank,
Fitting precision is 0.90412, the precision highest being fitted at this time.For the accuracy of comparative study test set error fit, will test
The error fit curve for demonstrate,proving the error fit curve of 27 sampled points of collection and 27 sampled points of test set compares figure such as
Fig. 5
For the ease of analyzing the error features of binocular vision pulse image capturing system, two error fit curves are calculated
The difference of the detection error of upper corresponding sampled point is as shown in fig. 6, specific value is as shown in the table.
The difference table of the detection error of sampled point is corresponded in two sample sets
From the point of view of the objectivity of curve, the trend for verifying the error fit curve of collection and the error fit curve of test set is
Similar, i.e., test set can accurately reflect image capturing system by the curve and expression formula of least square method fitting of a polynomial
Whole precision characteristic and Error Trend.
The error amount of probe up-sampling point increases with remote.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of control method of laser-control flattening bulldozer, which is characterized in that the control of the laser-control flattening bulldozer
Method processed includes:
Judge that laser signal changes difference using signal judging circuit；The probe integrated in signal judging circuit judges laser signal
Change in difference, laser signal variation difference is removed using constraint rule；It is quasi- that error is carried out to the systematic error of generation
It closes, reduces random error；
The height of bulldozing shovel blade is adjusted according to signal difference using adjusting circuit；
Setting adjusts the height critical value of a bulldozing shovel blade of the central processing unit of circuit integration；
Judge that a maximum can handle load capacity according to the height critical value of bulldozing shovel blade；
Multiple first tasks are combined into one first continuous work task according to platform power administrative skill is collected；
Judge whether a load capacity of the first continuous work task is greater than maximum and can handle load capacity；
When the load capacity of the first continuous work task, which is greater than maximum, to handle load capacity, by one of first continuous work task
First task of overload part removes the first continuous work task；
When receiving the first continuous work task, central processing unit is switched into an operation mode by a suspend mode, and
Handle the first continuous work task；And after the completion of the processing of the first continuous work task, central processing unit is set as suspend mode mould
Formula；Realize the adjusting of the height of bulldozing shovel blade.
2. the control method of laser-control flattening bulldozer as described in claim 1, which is characterized in that the behaviour of central processing unit
Working frequency has a normal operating frequency under general operation；
One first operating frequency is determined according to the height critical value of the load capacity of the first continuous work task and bulldozing shovel blade；
And when central processing unit switches to operation mode, the operating frequency of central processing unit is promoted by normal operating frequency
The first continuous work task is handled to the first operating frequency, and by the first operating frequency；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
Central processing unit control method further include:
After the processing of the first continuous work task is completed and central processing unit enters suspend mode, according to collecting platform power pipe
First task of multiple second tasks and part of overloading is combined into one second continuous work task by reason technology；
When receiving the second continuous work task, central processing unit is switched into operation mode by suspend mode；
The operating frequency of central processing unit is promoted to one second operating frequency by normal operating frequency, passes through the second operating frequency
Handle the second continuous work task；And after the completion of the processing of the second continuous work task, central processing unit is set as suspend mode mould
Formula；
Wherein the working frequency of the first operating frequency is higher than the working frequency of normal operating frequency；
First continuous work task is handled the time point completed and initially received by central processing unit using the first operating frequency
There is one first interval time between the time point of second continuous work task, and normal frequency is used to appoint the first continuous work
Business processing, which is completed and received, had for one second interval time between the second continuous work task, wherein the first interval time was less than
Second interval time.
3. the control method of laser-control flattening bulldozer as described in claim 1, which is characterized in that the laser controlling is flat
The control method of whole bull-dozer specifically includes:
Step 1 utilizes laser transmitter projects laser signal by laser signal transmitting module；Mould is received by laser signal
Block receives laser signal using laser pickoff；
Step 2, main control module carry out identification laser signal using signal recognition circuit by signal identification module；
Step 3 judges that laser signal changes difference using signal judging circuit by signal judgment module；Pass through height adjustment
Module adjusts the height of bulldozing shovel blade using adjusting circuit according to signal difference；
Step 4 is monitored by working state monitoring module using working condition of the observation circuit to perching knife；
Step 5 stores perching knife operating state data information using memory by data memory module；And pass through display module
Perching knife operating state data information is shown using display.
4. the control method of laser-control flattening bulldozer as described in claim 1, which is characterized in that signal recognition method packet
It includes:
(1) pulse laser through Spatial transmission is converted into electric signal by photoelectric tube, through oscilloscope measurement electric signal, obtains described
The time waveform of pulse laser；
(2) substrate for calculating and filtering out the time waveform of pulse laser obtains analysis signal f (t), specifically: choosing measurement letter
Number centre has amplitude-frequency modulated signal part I0, carries out fitting of a polynomial to amplitude-frequency modulated signal part I0, obtains substrate
Signal Ibase, the difference of amplitude-frequency modulated signal part I0 and basal signal Ibase, as analysis signal f (t)；
(3) according to Spatial transmission frequency, complete dictionary was constructed, the atom vector form of excessively complete dictionary is as follows:
gk(t)=sin (2 π fmt+φn)；
In formula, phasen=2 π n/N, frequency fm=f0+ (m/M-0.5) Δ f, n ∈ [0, N), and m ∈ [0, M), f0For center frequency,
Δ f is spectrum width, and N is the hits of phase, and M is the hits of frequency；
(4) sparse decomposition is carried out to analysis signal f (t) using excessively complete dictionary, obtains feature rarefaction representation coefficient；
(5) signal is reconstructed according to feature rarefaction representation coefficient, obtains amplitude-frequency modulation depth, finally, to reconstruction signal into
Row Fourier transformation obtains the frequency spectrum of analysis signal.
5. the control method of laser-control flattening bulldozer as described in claim 1, which is characterized in that working state monitoring mould
Block monitoring method includes:
1) database is pre-established；
2) collecting work parameter, including acquisition bearing diagonal hinge distance value XLC, left lift cylinder hinge distance value LLC, the right side in real time
Lift cylinder hinge distance value RLC and dump ram hinge distance value TLC；
3) database is accessed by running parameter, carries out data analysis；
4) working status parameter of current perching knife is shown；
Carrying out data analysis includes:
Judge whether perching knife is in extreme position inclination operating condition, if so, determining that this movement of perching knife is dangerous play, issues operation
Danger warning；Otherwise, the working status parameter of current perching knife is obtained；
Lift cylinder greatest limit stroke Lmax, lift cylinder setting error amount Δ lmax, inclination are prestored in the database
Oil cylinder sets error amount Δ t；
If | LLC-Lmax |≤Δ lmax or | RLC-Lmax |≤Δ lmax, and | XLC-TLC | > Δ t then determines at perching knife
Operating condition is tilted in extreme position；
The working status parameter for obtaining current perching knife, comprising:
It is closed according to the bearing diagonal hinge distance XL and angle of penetration A in the bearing diagonal hinge distance value XLC inquiry database measured
It is curve data, checks in bearing diagonal hinge distance value XL, angle of penetration A corresponding with XL is that the perching knife under current state enters at this time
Native angle value Ap；
Whether the difference of the bearing diagonal hinge distance value XLC for judging the to measure and dump ram hinge distance value TLC measured
Within a preset range, if so, determining current perching knife for horizontal position, otherwise, it is determined that current perching knife is lateral attitude.
6. a kind of control computer program of laser-control flattening bulldozer, which is characterized in that the laser-control flattening is bulldozed
The control computer program of machine realizes that the control of laser-control flattening bulldozer described in Claims 1 to 5 any one calculates
Machine program.
7. a kind of terminal, which is characterized in that the terminal, which is at least carried, realizes laser control described in Claims 1 to 5 any one
The controller of the control method of flattening bulldozer processed.
8. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer is executed as weighed
Benefit requires the control method of laser-control flattening bulldozer described in 1-5 any one.
9. a kind of control system of laser-control flattening bulldozer, which is characterized in that the control of the laser-control flattening bulldozer
System processed includes:
Laser signal transmitting module, connect with main control module, for passing through laser transmitter projects laser signal；
Laser signal receiving module, connect with main control module, for receiving laser signal by laser pickoff；
Main control module, with laser signal transmitting module, laser signal receiving module, signal identification module, signal judgment module, height
Adjustment module, working state monitoring module, data memory module, display module connection are spent, it is each for being controlled by single-chip microcontroller
Module works normally；
Signal identification module, connect with main control module, for carrying out identification laser signal by signal recognition circuit；
Signal judgment module, connect with main control module, for judging that laser signal changes difference by signal judging circuit；
Height adjustment module is connect with main control module, for by adjusting circuit according to the height of signal difference adjusting bulldozing shovel blade
Degree；
Working state monitoring module, connect with main control module, for being monitored by working condition of the observation circuit to perching knife；
Data memory module is connect with main control module, for storing perching knife operating state data information by memory；
Display module is connect with main control module, for showing perching knife operating state data information by display.
10. a kind of laser-control flattening for the control system at least carrying laser-control flattening bulldozer described in claim 9 pushes away
Native machine.
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