Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In addition, if directional indications (such as up, down, left, right, front, and rear are referred to in the embodiments of the present application), the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
As shown in fig. 1, in an embodiment of the present invention, there is provided a method 100 for excavator collaborative work, a control terminal configured to communicate with a plurality of excavators, the method 100 for excavator collaborative work being applied to a main excavator of the plurality of excavators, the method 100 for excavator collaborative work including the steps of:
step S110, position information of an object to be worked is acquired.
And step S130, transmitting the position information and the number of the secondary excavators needing cooperative work to a control terminal, wherein the control terminal determines the number of the secondary excavators from the candidate excavators, determines the respective target positions of the main excavator and the secondary excavators, instructs the main excavator and the secondary excavators to move to the respective target positions, and the candidate excavators are the rest of the plurality of the excavators except the main excavator.
And step S150, receiving the target position of the main excavator sent by the control terminal. The target position may specifically be, for example, a target position that needs to be reached by a rotation center of the corresponding excavator, and of course, embodiments of the present invention are not limited thereto, and may also be, for example, a target position that needs to be reached by other points of the excavator.
Step S170, moving to a target position of the main excavator. And
And step S190, when the main excavator and the auxiliary excavator reach the respective target positions, transmitting the own job information to the control terminal, wherein the control terminal transmits the job information to the auxiliary excavator so as to enable the auxiliary excavator to work cooperatively with the main excavator. The collaboration may be, for example, collaboration handling or other types of collaboration. More specifically, the excavator reaches the target position, for example, at the target position in a predetermined posture, which may be, for example, any posture that facilitates the excavator to perform a collaborative work.
Multiple excavators are, for example, the same model or the same configuration of excavators.
Specifically, the object to be worked is, for example, a long tube type material or a longitudinal beam type material. Of course, the object to be worked can also be other materials with regular shapes.
Specifically, the positional information includes, for example, the position of the geometric center of both side end surfaces of the object to be worked. Of course, the embodiment of the present invention is not limited to this, and the position information may be, for example, a position including any two points on the object to be worked.
Specifically, acquiring the position information of the object to be worked, that is, step S110 includes, for example:
(a1) An image of an object to be worked is acquired. In particular, an image of an object to be worked can be acquired, for example, by means of an image acquisition device such as a camera, and
(A2) Position information is determined from the image. After the image of the object to be worked is acquired, the position information of the object to be worked to be acquired can be determined according to the image identification method.
Of course, the manner of acquiring the position information of the object to be worked according to the embodiment of the present invention is not limited to the manner of acquiring the image of the object to be worked by the image acquisition device such as a camera and determining the image, for example, the object to be worked may be scanned by a millimeter wave radar or a laser radar and then the position information of the object to be worked may be determined according to the scanned information, for example, the position information of the object to be worked may be determined in advance and the position information of the object to be worked may be input on the man-machine interaction device.
Further, the method 100 for excavator collaborative work may further include the steps of, for example:
And acquiring the length, the cross-sectional area and the material information of the object to be worked. The length, cross-sectional area and material information of the object to be worked are determined in advance and are obtained by inputting the determined information on the man-machine interaction device, however, the embodiment of the invention is not limited to this, and the length, cross-sectional area and/or material information of the object to be worked may be obtained by identifying other auxiliary devices, for example, an image of the object to be worked is acquired by an image acquisition device such as a camera, and the obtained image is determined by image identification. And
And determining the quantity according to the length, the cross-sectional area and the material information.
Specifically, the material information includes, for example, an average density of the object to be worked. The embodiment of the invention is not limited to this, and the material information may be, for example, other information that can identify the material of the object to be worked, as long as the average density of the object to be worked can be uniquely determined according to the information.
Specifically, the number is determined according to the length, the cross-sectional area, and the texture information, that is, step S123 includes, for example:
(b1) Determining the maximum length of the main excavator which can work for the object to be worked according to the cross-sectional area and the average density of the object to be worked, and
(B2) The number is determined based on the length and the maximum length.
Specifically, in the case where the working device of the main excavator is a bucket, the maximum length is determined, for example, according to the following formula:
Wherein Lmax is the maximum length, VD is the capacity of the bucket, ρn is the average density of soil, ρh is the average density of the object to be worked, and A is the cross-sectional area.
Specifically, in the case where the working device of the main excavator is a gripper, the maximum length is determined, for example, according to the following formula:
Wherein Lmax is the maximum length, W is the maximum weight that the gripper can bear, ρh is the average density of the object to be worked, and A is the cross-sectional area.
Specifically, the job information includes, for example, a preset job program or job action. Specifically, for example, when it is determined that the master excavator and the slave excavator reach respective target positions, a preset operation program which is desired to be executed by the master excavator is selected on the master excavator by an operator, and is transmitted to the control terminal and forwarded to the slave excavator by the control terminal for the slave excavator to cooperate with the master excavator, or an operation action is executed by directly operating the master excavator by the operator and is acquired in real time, and is transmitted to the control terminal and forwarded to the slave excavator by the control terminal for the slave excavator to cooperate with the master excavator. More specifically, the work action may be, for example, a manipulation instruction transmitted by the operator through the manipulation mechanism.
Further, the method 100 for excavator collaborative work may further include the steps of, for example:
When the cross-sectional area is larger than the maximum cross-sectional area at which the main excavator can operate, it is determined that the cooperative operation is not possible. Specifically, for example, the display may be used to display the prompt information through a man-machine interaction device such as an instrument panel of the excavator, for example, the sectional area is larger than the maximum sectional area of the main excavator, and the prompt information of the relevant content such as the collaborative operation cannot be performed.
Specifically, the maximum cross-sectional area is determined, for example, according to the following formula:
Where Amax is the maximum cross-sectional area. In the case where the work implement of the main excavator is a bucket, dmax is the maximum bucket radius of the bucket. In the case where the work implement of the main excavator is a gripper, dmax is the maximum gripping diameter of the gripper.
Further, the method 100 for excavator collaborative work may further include the steps of, for example:
When the main excavator reaches the target position, arrival information indicating the arrival at the target position is transmitted to the control terminal.
As shown in fig. 2, in an embodiment of the present invention, there is provided a method 200 for excavator collaborative work, a control terminal configured to communicate with a plurality of excavators, the method 200 for excavator collaborative work being applied to a slave excavator of the plurality of excavators, the method 200 for excavator collaborative work comprising the steps of:
Step S210, receiving a target position of the slave excavator, which is sent by the control terminal. The target position may specifically be, for example, a target position that needs to be reached by a rotation center of the corresponding excavator, and of course, embodiments of the present invention are not limited thereto, and may also be, for example, a target position that needs to be reached by other points of the excavator.
Step S230, moving to the target position.
Step S250, job information sent by the control terminal is received. And
And step S270, cooperating with a main excavator in the plurality of excavators according to the operation information. The collaboration may be, for example, collaboration handling or other types of collaboration.
Multiple excavators are, for example, the same model or the same configuration of excavators.
Specifically, the job information includes, for example, a preset job program or job action. Specifically, for example, when it is determined that the master excavator and the slave excavator reach respective target positions, a preset operation program which is desired to be executed by the master excavator is selected on the master excavator by an operator, and is transmitted to the control terminal and forwarded to the slave excavator by the control terminal for the slave excavator to cooperate with the master excavator, or an operation action is executed by directly operating the master excavator by the operator and is acquired in real time, and is transmitted to the control terminal and forwarded to the slave excavator by the control terminal for the slave excavator to cooperate with the master excavator. More specifically, the work action may be, for example, a manipulation instruction transmitted by the operator through the manipulation mechanism.
Further, the method 200 for excavator collaborative work may further include the steps of, for example:
When the excavator reaches the target position, arrival information indicating the arrival of the target position is transmitted to the control terminal.
As shown in fig. 3, in an embodiment of the present invention, there is provided a method 300 for excavator collaborative work, a control terminal configured to communicate with a plurality of excavators, the method 300 for excavator collaborative work being applied to the control terminal, the method 300 for excavator collaborative work including the steps of:
Step S310, receiving cooperative demand information sent by a master excavator in a plurality of excavators, wherein the cooperative demand information comprises position information of an object to be worked and the number of slave excavators needing cooperative work.
Step S320, determining target positions of the master excavator and the slave excavator needing cooperative work according to the position information and the number of the objects to be worked. The target position may specifically be, for example, a target position that needs to be reached by a rotation center of the corresponding excavator, and of course, embodiments of the present invention are not limited thereto, and may also be, for example, a target position that needs to be reached by other points of the excavator.
And step S330, acquiring the position information of the main excavator and the position information and the working state of the candidate excavator, wherein the candidate excavator is the rest excavator except the main excavator in the plurality of excavators.
Step S340, determining the number of slave excavators from the candidate excavators according to the position information of the master excavator, the position information and the working state of the candidate excavators.
Step S350, distributing the target positions to the master excavator and the slave excavator so that the master excavator and the slave excavator move to the respective target positions.
Step S360, when the main excavator and the auxiliary excavator reach the respective target positions, the operation information sent by the main excavator is received. And
Step S370, the job information is sent to the slave excavator so that the slave excavator and the master excavator work cooperatively. The collaboration may be, for example, collaboration handling or other types of collaboration.
In the embodiment of the invention, a plurality of excavators are used for example, the excavators with the same model or the same configuration.
Specifically, the object to be worked is, for example, a long tube type material or a longitudinal beam type material. Of course, the object to be worked can also be other materials with regular shapes.
Specifically, the positional information includes, for example, the position of the geometric center of both side end surfaces of the object to be worked. Of course, the embodiment of the present invention is not limited to this, and the position information may be, for example, a position including any two points on the object to be worked.
Specifically, the job information includes, for example, a preset job program or job action. The job information may be, for example, a preset job program and a job action of the main excavator itself acquired by the control terminal. Specifically, for example, when it is determined that the master excavator and the slave excavator reach respective target positions, a preset operation program which is desired to be executed by the master excavator is selected on the master excavator by an operator, and is transmitted to the control terminal and forwarded to the slave excavator by the control terminal for the slave excavator to cooperate with the master excavator, or an operation action is executed by directly operating the master excavator by the operator and is acquired in real time, and is transmitted to the control terminal and forwarded to the slave excavator by the control terminal for the slave excavator to cooperate with the master excavator. More specifically, the work action may be, for example, a manipulation instruction transmitted by the operator through the manipulation mechanism.
Further, the method 300 for excavator collaborative work may further include, for example, the steps of:
When the arrival information indicating that the target position is reached is received, which is transmitted from the master excavator and all the slave excavators, it is determined that the master excavator and the slave excavators each reach the respective target positions.
Specifically, determining the target positions of the master excavator and the slave excavator requiring cooperative work according to the position information and the number of the objects to be worked, that is, step S320 includes, for example:
(c1) Determining the distance between the target position and the target end face in the length direction of the object to be worked according to the following formula:
Wherein Xn represents the distance between the target position of the nth excavator and the target end face in the length direction of the object to be worked, L represents the length of the object to be worked, N is the number, the target end face is any one side end face of the object to be worked, and
(C2) And determining the target position according to the position information of the object to be operated and the distance between the target position and the target end face in the length direction of the object to be operated. Specifically, for example, a proper distance between the target position and the object to be worked in the longitudinal direction which is horizontally perpendicular to the object to be worked can be determined according to the size information of the excavator, and the target position can be determined by combining the distance between the target position and the target end face in the longitudinal direction of the object to be worked.
Specifically, determining the number of slave excavators from the candidate excavators according to the position information of the master excavator and the position information and the operating state of the candidate excavators, that is, step S340 includes, for example:
(d) The number of the candidate excavators closest to the master excavator and not in operation is determined as the slave excavator.
In an embodiment of the invention, a processor is provided, for example, configured to perform the method 100 for excavator collaborative work of any of the previous embodiments. The specific functions and details of the method 100 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
In an embodiment of the invention, a processor is provided, for example, configured to perform the method 200 for excavator collaborative work of any of the previous embodiments. The specific functions and details of the method 200 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
In an embodiment of the present invention, a processor is provided, for example, configured to perform the method 300 for excavator collaborative work of any one of the previous embodiments. The specific functions and details of the method 300 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
As shown in fig. 4, in an embodiment of the present invention, there is provided a vehicle-mounted terminal 400 provided on an excavator, the vehicle-mounted terminal 400 including a processor 410, a communication device 430, and a positioning device 450.
Wherein the processor 410 is configured, for example, to perform the method 100 for excavator collaborative work of any one of the preceding embodiments. The specific functions and details of the method 100 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
The positioning device 450 is used, for example, to provide positional information of the excavator.
Further, the in-vehicle terminal 400 may further include, for example, an image pickup device 470, the image pickup device 470 being used for picking up an image of an object to be worked, for example.
Further, the vehicle-mounted terminal 400 may further include a man-machine interaction device 490, where the man-machine interaction device 490 is configured to obtain, for example, length, cross-sectional area and texture information of the input object to be worked. The human machine interactive device 490 may be, for example, a display such as a dashboard of an excavator.
As shown in fig. 5, in an embodiment of the present invention, there is provided a vehicle-mounted terminal 500 provided on an excavator, the vehicle-mounted terminal 500 including a processor 510, a communication device 530, and a positioning device 550.
Wherein the processor 510 is configured to perform the method 200 for excavator collaborative work of any one of the preceding embodiments, for example. The specific functions and details of the method 200 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
The locating device 550 is used, for example, to provide positional information of the excavator.
As shown in fig. 6, in an embodiment of the present invention, there is provided an excavator 600 including the vehicle-mounted terminal 400 of any one of the foregoing embodiments. The specific functions and details of the vehicle-mounted terminal 400 may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
As shown in fig. 7, in an embodiment of the present invention, there is provided an excavator 700 including the vehicle-mounted terminal 500 of any one of the foregoing embodiments. The specific functions and details of the vehicle-mounted terminal 500 may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
In an embodiment of the present invention, a control terminal is provided, for example, configured to perform the method 300 for excavator collaborative work of any one of the previous embodiments. The specific functions and details of the method 300 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
In an embodiment of the present invention, a machine-readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to implement the method 100 for excavator collaborative work of any of the previous embodiments is provided. The specific functions and details of the method 100 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
In an embodiment of the present invention, a machine-readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to implement the method 200 for excavator collaborative work of any of the previous embodiments is provided. The specific functions and details of the method 200 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
In an embodiment of the present invention, a machine-readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to implement the method 300 for excavator collaborative work of any of the previous embodiments is provided. The specific functions and details of the method 300 for collaborative operation of the excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
The following describes the technical solution of the embodiment of the present invention in conjunction with an application example, and the specific application example is as follows.
As shown in fig. 8, a schematic structural diagram of an excavator cooperative conveyance system is provided as an example of the present invention, and mainly includes a control terminal and a plurality of excavators (excavator 1, excavator 2,..and excavator n). All of the excavators may communicate with and be controlled by the control terminal. The control terminal may be, for example, a remotely located control terminal. The following description will take long tubes or longitudinal beams as examples.
Each excavator is provided with a vehicle-mounted terminal, as shown in fig. 9, which is a structural schematic diagram of the vehicle-mounted terminal according to the embodiment of the invention, and the vehicle-mounted terminal comprises a communication module, a positioning module, an information acquisition module and a control module. The control terminal and the vehicle-mounted terminal of the excavator realize information transmission through the communication module, so that the plurality of the excavators synchronously execute the same action, and the cooperative operation is realized. The communication module can use a 5G network mode for communication. Real-time position information of the excavator can be obtained through a positioning module, and the positioning module can be realized through a GPS or Beidou positioning system. The information acquisition module is used for acquiring information of the excavator and information of materials, and comprises a camera, an instrument panel, an inclination sensor and the like, wherein the camera is used for shooting images of the materials, then relevant information such as the position of the materials is determined according to image identification of the materials, an operator is used for manually inputting information such as sectional area, length and materials and displaying information such as prompt information and optional preset operation programs, the inclination sensor can be used for acquiring information such as actions and postures of the excavator, the control module is used for processing the information received by the communication module and controlling the excavator to finish specific actions, and operation signals of an operating mechanism of the excavator can be acquired in real time to identify the operation actions of the excavator.
As shown in fig. 10, a flow chart of a cooperative conveyance control method for an excavator, which is executed by a control module of the excavator, is shown, and an operator can start a cooperative conveyance function through a button on a control terminal or an instrument panel on the excavator. After the collaborative handling function is started, initializing such as loading programs or program related parameters, judging whether the excavator receives a position instruction sent by a control terminal or not, judging that the excavator is a main excavator if the excavator does not receive the position instruction sent by the control terminal, acquiring images by the main excavator, identifying the images by the camera to acquire position information of materials such as the positions of geometric centers of two side end surfaces, acquiring the sectional area A of the materials input by an operator through an instrument panel, and judging whether the sectional area A is smaller than or equal to the maximum sectional area Amax of the materials which can be handled by a working device of the excavator. Where Amax can be calculated from the following formula:
In the case where the work implement is a bucket, dmax is the maximum bucket radius of the bucket. In the case where the working device is a gripper, dmax is the maximum gripping diameter of the gripper. If the material is not conveyed, the instrument panel prompts that the material is beyond the conveying range, and if the material is conveyed, the length L of the material input by an operator through the instrument panel is obtained, and the total number N (including the main excavator) of the excavators required for cooperatively conveying the material is judged according to the length L. First, it is determined whether N excavators are capable of carrying the current material when n=1, that is, it is performed whether L is equal to or less than the number multiplied by Lmax, where Lmax represents the maximum length that each excavator can carry. If the work implement is a bucket, lmax may be calculated from the following equation:
VD is the capacity of the bucket, ρn is the average density of the earth, and ρh is the average density of the material. The average density of the soil is 2.65x3kg/m3, the most common materials carried by the excavator are concrete materials, and the average density of the concrete materials is 2.4x3kg/m3.
If the working device is a gripper, lmax is calculated by:
W is the maximum weight that the gripper can withstand.
If it is determined that L > n×lmax, it is indicated that N excavators cannot transport the material, n=n+1, that is, the material is transported by increasing the number of excavators. Until N satisfies L.ltoreq.NxLmax. And then the main excavator sends the cooperative conveying requirement information including the total number N of the excavators required for cooperative conveying, the position information of materials and the like to the control terminal so as to call other excavators. In the example of the invention, the value of N is controlled to be within 5, namely less than 5, and the cost is too high when the number of the excavators needed for cooperatively conveying the materials is large, so that the manual conveying operation and the traditional crane conveying operation can be considered. When the determined N is greater than 5, the instrument panel can prompt that the excavator is out of the carrying range. The co-handling requirement information may also include the number of slave excavators that need to co-handle material with the master excavator, i.e., the total number of excavators required for co-handling, N minus 1.
As shown in fig. 11, a flow chart of a cooperative conveyance control method for an excavator, which is executed by a control terminal. After receiving the cooperative transportation requirement information including the N and the position information of the materials and the like sent by the communication module of the vehicle-mounted terminal of the main excavator, the control terminal identifies the equipment code of the main excavator and acquires the position of the main excavator. And then calculating target positions to which N excavators for cooperatively carrying the materials need to be moved according to the cooperative carrying requirement information, wherein the target positions are specifically, for example, the target positions to which the rotation centers of the excavators need to be moved. The target position of the excavator is calculated by the following formula:
wherein Xn represents the distance between the target position of the nth excavator and the target end face in the length direction of the material, and the target end face is any side end face of the object to be worked.
And then determining the target positions of the excavators according to the positions of the geometric centers of the end surfaces at the two sides of the material and the Xn, and reasonably setting the distance between the target positions of the excavators and the material in the length direction which is horizontal and vertical to the material by combining the size information of the excavators.
And then acquiring N-1 excavators which are closest to the main excavator and are not in a working state as auxiliary excavators, after the auxiliary excavators are determined, sequentially sending position instructions comprising target positions which need to be reached by the corresponding excavators to the main excavator and the determined auxiliary excavators, and controlling the auxiliary excavators to start the cooperative conveying function of the auxiliary excavators.
As shown in fig. 10, the vehicle-mounted terminal of the excavator receives a position command sent by the control terminal through the communication module. The vehicle-mounted terminal identifies the number n given by the control terminal, namely the current excavator is the nth excavator. And then controlling the excavator to be at a target position which is included in the position instruction and needs to be reached by the current excavator in a preset gesture, and sending an arrival signal to the control terminal by the on-board terminal of the excavator. The preset posture includes, for example, a posture of the working device and an orientation of the traveling mechanism.
As shown in fig. 11, the control terminal receives an arrival signal transmitted by the nth excavator, and then executes n=n+1. At this time, whether N is equal to the total number N is judged, if N is not equal to the total number N, the next position instruction is sent and whether the excavator reaches the target position is judged until it is determined that all N excavators reach the target position. Then, the control terminal judges whether the 1 st excavator, namely the master excavator, receives the operation information such as a preset operation program or operation action, and if so, the control terminal sends a corresponding signal to the slave excavator. The operation actions are that the operation actions of operators on the main excavator are synchronously executed on other excavators, no matter the operation is automatic or the operators operate, N excavators can complete synchronous and stable actions, and the situation that the operation of materials is unstable and unsafe due to the fact that the operation of the excavators is not synchronous in the carrying process is avoided. And synchronous automation operation can also improve the efficiency of collaborative transportation. When the operation information of the main excavator is not received, the control terminal judges whether an end signal sent by any one of the N excavators is received, if not, the control terminal returns to continuously judge whether a preset operation program or operation action sent by the main excavator is received, and if so, the control terminal returns to continuously wait for receiving the cooperative transportation requirement information comprising N sent by the main excavator in the next cooperative transportation process.
As shown in fig. 10, when the communication module of the excavator sends an arrival signal to the control terminal and waits for all the excavators to reach respective target positions, the on-board terminal of the excavator at this time judges whether the number is 1, if yes, the current excavator is the main excavator, the subsequent process is to transmit the operation information of the main excavator to the control terminal, and then the control terminal sends the operation information to the slave excavator, so that the action synchronization of a plurality of excavators is realized, and finally the purpose of cooperatively carrying materials is realized. There are two working modes of the main excavator, namely an automatic working mode and a manipulation working mode of controlling N excavators by 1 operator, corresponding to the information received by the control terminal. The method comprises the following steps of judging whether an automatic operation button is opened or not, if the automatic operation button is opened, the automatic operation mode is set, a preset operation program can be selected, the selected preset operation program is sent to a control terminal, and the preset operation program is ensured to be synchronously executed from the excavator through the set time axis operation. If the automatic operation button is not opened, the instrument panel prompts an operator to manually operate, the operator operates the operation mechanism to operate, operation actions such as operation instructions of the main excavator are collected in real time, and the operation actions are sent to the control terminal, so that each excavator synchronously executes the operation of the operator of the main excavator. The automatic operation and the operation can be alternately performed, so that mutual assistance is realized. If n is not equal to 1, judging whether a preset operation program of the control terminal is received, if the preset operation program is received, executing the preset operation program, and executing a process of judging whether the cooperative transportation function is closed after executing the preset operation program. If the preset operation program is not received, judging whether the operation action is received, if the operation action is received, executing the operation action, and executing a process of judging whether the cooperative transportation function is closed after executing the operation action. If the operation action is not received, the next step of judgment is directly carried out, namely whether the cooperative transportation function is closed is judged. And judging whether the cooperative transportation function is closed, if not, namely, if not, returning to judge whether the next cycle is continued at the position of receiving the preset operation program flow, if so, namely, if the cooperative transportation function is closed, sending an ending signal to the control terminal, and ending the whole flow.
In the present example, the sectional area a and the length L of the material may also be obtained by, for example, a method of performing image recognition on an image of the material captured by a camera. The image recognition method is a mature prior art, and is not described in detail herein, and specifically, for example, the method for edge detection and target recognition under the multi-channel color proposed by Zhao Ming et al and the method for calculating the target size with a circle as a reference in the later stage can calculate the size information of the target by setting a reference object.
The technical scheme of the embodiment of the invention can realize the following partial or all technical effects:
1. The synchronous operation of a plurality of excavators can be realized, an operator is not required or only one operator is required to participate in the operation process, the mutual communication with other operators is not required, the influence of subjective consciousness of the operator on the collaborative operation process can be reduced, the operation safety is improved, the operation difficulty and the participation operation degree of the operator can be reduced, the labor cost is saved, the operation difficulty of the excavators in collaborative operation can be reduced, and the collaborative operation efficiency of the excavators is improved.
2. The target position of each excavator can be determined according to the length and other information of the object to be operated, so that the uniform spacing among the excavators in the collaborative operation is kept, the uniform stress of materials is ensured, and the stability of the collaborative operation process is further ensured.
3. The small-size working platform can be used for narrow bridges, long pipes or longitudinal beam materials are not required to be fixed manually, the small-size working platform can be directly and independently completed by the excavator working device, the problem that cooperative operation cannot be completed under special working conditions can be solved, and the small-size working platform is wide in working conditions.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.