CN105544627B - A kind of excavator and its autocontrol method based on tracking pattern - Google Patents
A kind of excavator and its autocontrol method based on tracking pattern Download PDFInfo
- Publication number
- CN105544627B CN105544627B CN201610071322.4A CN201610071322A CN105544627B CN 105544627 B CN105544627 B CN 105544627B CN 201610071322 A CN201610071322 A CN 201610071322A CN 105544627 B CN105544627 B CN 105544627B
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- way valve
- electric control
- master controller
- control multi
- excavator
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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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
Abstract
The present invention relates to excavator technical fields, provide a kind of excavator and its autocontrol method based on tracking pattern.The engine of wherein excavator connects and drives electrically controlled plunger pump；The oil inlet of the oil outlet connection electric control multi-way valve of electrically controlled plunger pump；The oil outlet connection oil cylinder and drive cylinder of electric control multi-way valve are flexible；Engine, electrically controlled plunger pump and electric control multi-way valve are connect with master controller signal, and the running parameter of itself is sent to master controller respectively；Master controller reappears machine hand example operation automatically according to the running parameter received.The excavator reappears machine hand example operation automatically using engine, electrically controlled plunger pump and electric control multi-way valve running parameter in master controller acquisition whole operation cycle based on these running parameters.The excavator autocontrol method can make full use of the subjective judgement ability of driver and play the convenient of autocontrol method in face of different operating modes, can substantially reduce machine hand repetitive operation, improve labor efficiency.
Description
Technical field
The present invention relates to excavator technical field more particularly to a kind of excavator based on tracking pattern and its automatically control
Method.
Background technology
Existing excavator control structure is as shown in Figure 1, engine 100 drives plunger pump 200 and pioneer pump 300, plunger pump
200 oil outlets are connected with 500 oil inlet of liquor controlled multipath, and liquor controlled multipath 500 controls oil and provided by pioneer pump 300, by guide
Handle 400 controls, and 500 oil outlet of liquor controlled multipath is connected with oil cylinder 600, and drive cylinder 600 is flexible.Control aspect is only sent out
There is power control between motivation 100 and plunger pump 200, is realized by controller 700.
The excavator in Land leveling and inclined-plane dressing operation, be all by machine hand do not stop adjust handle, carry out swing arm and
The cooperation of dipper.Its work repeatability is high, and heavy workload, operation is time-consuming and laborious, and machine hand fatiguability.Each work follows excavator
Ring linking is unsmooth, causes working efficiency not high, and fuel consumption is high.
Further, prior art excavator there are the shortcomings that can be divided into the following：First, different works are not directed to
Automatically controlling under condition；Secondly, situations such as machine hand is in the high operating mode operation of repeatability, such as Land leveling or slope surface are modified
Under, all it is experience adjustments dipper, the actuators pilot handle 400 such as swing arm according to oneself, reaches level land requirement, operate to machine
Hand operational capacity requires height, duplication of labour amount big；Finally, each working cycles are inconsistent due to operating, and leveling effect is inconsistent.
Invention content
(1) technical problems to be solved
The technical problem to be solved in the present invention is to provide a kind of excavator based on tracking pattern and its side of automatically controlling
Method reduces driver workload, improves excavator work quality and efficiency.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of excavator based on tracking pattern, including engine,
Electrically controlled plunger pump, electric control multi-way valve, pioneer pump, oil cylinder and master controller；The engine connects and drives the automatically controlled plunger
Pump；The oil outlet of the electrically controlled plunger pump connects the oil inlet of the electric control multi-way valve；The electric control multi-way valve and the guide
Pump connection, and by the pioneer pump control oil is provided for the electric control multi-way valve；The oil outlet of the electric control multi-way valve connects
The oil cylinder simultaneously drives the oil cylinder flexible；The engine, electrically controlled plunger pump and electric control multi-way valve with the master controller
Signal connects, and the running parameter of itself is sent to the master controller respectively；The master controller is according to the institute received
It states running parameter and reappears machine hand example operation automatically.
Preferably, the pioneer pump connects the electric control multi-way valve by electric proportional pilot valve；The electricity proportional pilot valve
Connect pressure sensor, and the first pilot pressure value when by the pressure sensor by example operation and reproduction are exemplary
The second pilot pressure value when operation is sent to the master controller.
Preferably, further include the first PID controller of the connection electric proportional pilot valve and electric control multi-way valve, described first
PID controller carries out operation to the first pilot pressure value and the second pilot pressure value, and according to operation result to the master
The current/voltage parameter value of electric control multi-way valve described in controller carries out first time correction.
Preferably, the oil cylinder connects displacement sensor, institute's displacement sensors by oil cylinder in example operation the
One shift value and the second displacement value when reappearing example operation are sent to the master controller.
Preferably, further include the second PID controller for connecting institute's displacement sensors, second PID controller is to institute
It states the first shift value and second displacement value carries out operation, and the current/voltage of the electric control multi-way valve is joined according to operation result
Numerical value carries out second-order correction.
The present invention also provides a kind of autocontrol methods of the excavator based on tracking pattern, include the following steps：
S1：It carries out machine hand example operation respectively under different operating modes, and one action cycle is recorded by master controller
The running parameter of middle engine, electrically controlled plunger pump and electric control multi-way valve；
S2, stop machine hand example operation, the master controller is according to the running parameter of record to the institute of excavator
It states engine, electrically controlled plunger pump and electric control multi-way valve and sends instruction；
S3, the engine realize the rotation of specific rotation speeds, the electrically controlled plunger pump according to the instruction of the master controller
Flow is adjusted according to the instruction of the master controller respectively with electric control multi-way valve, it is described to drive the oil cylinder to stretch and reappear
Machine hand example operation.
Preferably, further include S4：First guide of electricity proportional pilot valve when acquiring example operation by pressure sensor
Pressure value, and reproduction example operation when electricity proportional pilot valve the second pilot pressure value；Using the first PID controller to institute
It states the first pilot pressure value and the second pilot pressure value carries out operation, and according to operation result to the electricity of the electric control multi-way valve
Stream/voltage battery parameter value carries out first time correction.
Preferably, further include S5：First shift value of oil cylinder, Yi Jifu when acquiring example operation by displacement sensor
The second displacement value of oil cylinder when existing example operation；Using the second PID controller to first shift value and second displacement value
Operation is carried out, and second-order correction is carried out to the current/voltage parameter value of the electric control multi-way valve according to operation result.
Preferably, the master controller sends out finger according to the current/voltage parameter value of the electric control multi-way valve after correction
It enables.
(3) advantageous effect
Technical scheme of the present invention has the advantages that：A kind of excavator based on tracking pattern of the present invention, note
Record machine hand under certain operating mode example operation cycle, specifically using master controller acquisition whole operation cycle in engine,
Electrically controlled plunger pump and electric control multi-way valve running parameter, and reappear machine hand example operation automatically based on these running parameters.The party
Case is not set in advance largely by collected data output instruction, and control program is easily realized.In addition, the program is controlled automatically
It sets up and is based on machine hand example operation data surely, flexibility and reliability with strong points in face of different operating modes；Finally, the program in face of
When the high specific operation such as Land leveling of repeatability and inclined-plane are modified, autocontrol method can be fully sharp in face of different operating modes
With the subjective judgement ability of driver, and the convenient of autocontrol method can be played, machine hand repetitive operation can be substantially reduced, dropped
Low machine hand workload, improves labor efficiency, and reduces working cycles gap.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram of the excavator of the prior art；
Fig. 2 is the structural schematic diagram of the excavator based on tracking pattern of the present embodiment；
The operation principle and logic of the excavator based on tracking pattern of Fig. 3 the present embodiment correct schematic diagram；
In figure：100, engine；200, plunger pump；300, pioneer pump；400, pilot handle；500, liquor controlled multipath；
600, oil cylinder；700, controller；
1, engine；2, electrically controlled plunger pump；3, pioneer pump；4, pilot handle；5, electric control multi-way valve；6, oil cylinder；7, displacement
Sensor；8, master controller.
Specific implementation mode
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used for limiting the scope of the invention.
In the description of the present invention, it should be noted that term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.In addition, term " first ", " second ", " third " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.
The excavator based on tracking pattern of the present embodiment, refers to Fig. 2, including engine 1, electrically controlled plunger pump 2, automatically controlled
Multi-way valve 5, pioneer pump 3, oil cylinder 6 and master controller 8.Wherein, engine 1 connects and drives the electrically controlled plunger pump 2, automatically controlled
Mechanical energy is converted to hydraulic energy under the action of plunger pump 2.Electrically controlled plunger pump 2 herein generally referred to as passes through proportion magnetic valve
Control the plunger pump of pumpage.The oil outlet of electrically controlled plunger pump 2 is connected with the oil inlet of electric control multi-way valve 5, to by automatically controlled
The hydraulic oil that plunger pump 2 obtains certain energy enters in electric control multi-way valve 5.Wherein, the control oil of electric control multi-way valve 5 be usually by
What pioneer pump 3 provided.The driving of engine 1 may be used in pioneer pump 3 herein, and is controlled by pilot handle 4.Electric control multi-way valve 5
Oil outlet connect the oil cylinder 6 and drive the oil cylinder 6 flexible.It is realized by the flexible drive scraper bowl of the oil cylinder 6 specific
Operation.
Herein, engine 1, electrically controlled plunger pump 2 and electric control multi-way valve 5 are connect with 8 signal of the master controller of excavator, and
The running parameter of itself is sent to the master controller 8 respectively.Signal connection herein is preferably electric signal connection, certainly also
It can be any connection type that data transfer may be implemented.Running parameter herein, include at least engine 1 power (or
Person can calculate the other parameters of 1 power of engine, such as the rotating speed of engine 1), the current/voltage of electrically controlled plunger pump 2 ginseng
The current/voltage parameter value of numerical value, electric control multi-way valve 5.The master controller 8 is automatically multiple according to the running parameter received
Existing machine hand example operation.
Specifically, the excavator operation principle based on tracking pattern of the present embodiment refers to Fig. 3, and master controller 8 records
The running parameter of excavator in machine hand exemplary operation, and after at least one working cycles, stop manual operation, and
By controller output order, the running parameter recorded is sent to each dependency structure, to realize that specific oil cylinder 6 is stretched
Contracting, the final excavator that controls reappear machine hand example operation automatically.
In addition, pioneer pump 3 connects the electric control multi-way valve 5 by electric proportional pilot valve, electric proportional pilot valve connects pressure
Sensor, and pilot pressure value is sent to by the master controller 8 by the pressure sensor.
Specifically, first pilot pressure value and electricity of the electric proportional pilot valve of pressure sensor acquisition in example operation
Second pilot pressure value of the proportional pilot valve when reappearing example operation, and by the first pilot pressure value and the second pilot pressure
Value is sent to the first PID controller.The electric proportional pilot valve of first PID controller connection and electric control multi-way valve 5, and to described the
One pilot pressure value and the second pilot pressure value carry out operation, and according to operation result to automatically controlled more described in the master controller
The current/voltage parameter value of road valve 5 carries out first time correction, and the result after correction is sent to master controller 8.Herein
" the current/voltage parameter value of electric control multi-way valve 5 " obviously refers to the current/voltage ginseng of electric control multi-way valve 5 when example operation
Numerical value.On this basis, master controller 8 is according to the current/voltage parameter value output order after correction, to control automatically controlled multichannel
Valve 5 carries out corresponding movement.
In addition, in order to further ensure excavator of the present embodiment based on tracking pattern can be automatic accurate repetition realize machine
Hand operation circulation, oil cylinder 6 and displacement sensor 7 connect, and institute's displacement sensors 7 can be in real time by the position of the oil cylinder 6 measured
Shifting is sent to the master controller 8.By measure oil cylinder 6 displacement can to the current/voltage parameter value of electric control multi-way valve 5 into
Row secondary correction.
Specifically, oil cylinder 6 connects displacement sensor 7, institute's displacement sensors 7 by oil cylinder 6 in example operation the
One shift value and the second displacement value when reappearing example operation are sent to the master controller 8.On this basis, displacement passes
Sensor 7 connects the second PID controller, and the displacement data of oil cylinder 6 is sent to the second PID controller.Second PID control
Device carries out operation to first shift value and second displacement value, and according to operation result to the electric current of the electric control multi-way valve 5/
Voltage battery parameter value carries out second-order correction, and the result after correction is sent to master controller 8.On this basis, master controller 8
According to the current/voltage parameter value output order after correction, corresponding movement is carried out to control electric control multi-way valve 5.
It should be noted that other than oil cylinder 6, other execution machines of the excavator based on tracking pattern of the present embodiment
Structure can also install displacement sensor 7, to monitor the motion conditions of all executing agencies in real time, and eventually by tracking pattern
The example operation of reproduction machine hand.
Other than being corrected to current/voltage parameter value using the first PID controller and the second PID controller, also
Current/voltage parameter of the technology ripe in the prior art to 1 rotating speed of engine/power and electrically controlled plunger pump 2 may be used
Value is corrected, since the bearing calibration of 2 parameter of engine 1 and electrically controlled plunger pump is known to those skilled in the art,
It is no longer repeated herein.
The master controller 8 of the present embodiment can in logging machine hand demonstration operation on the basis of the running parameter of excavator
To be corrected to running parameter according to feedback.According to the data after correction to engine 1, electrically controlled plunger pump 2 and automatically controlled multichannel
Valve 5 sends out instruction, and then is matched to engine 1 and 2 power of electrically controlled plunger pump, and adjusts electrically controlled plunger pump 2 and automatically controlled multichannel
The current/voltage value of valve 5, to realize the extension and contraction control of oil cylinder 6, final accurately reproduction machine hand demonstration operation.
" tracking pattern " in the present embodiment refers to the detailed data of record excavator one action cycle, utilizes master control
Data are conveyed to by control structure by device 8 processed automatically, realize that working cycles reproduce.
The excavator based on tracking pattern of the present embodiment is not shifted to an earlier date largely by collected data output instruction
Setting, control program are easily realized.In addition, it, which automatically controls setting, is based on machine hand example operation data, different operating mode needles are faced
It is strong to property, flexibility and reliability；Finally, automatic when being modified in face of the high specific operation such as Land leveling of repeatability and inclined-plane
Control method can make full use of the subjective judgement ability of driver and play autocontrol method just in face of different operating modes
Victory can substantially reduce machine hand repetitive operation, reduce machine hand workload, improve labor efficiency, and reduce working cycles gap.
The autocontrol method of the excavator based on tracking pattern of the present embodiment, includes the following steps：
S1：It carries out machine hand example operation respectively under different operating modes, and one action cycle is recorded by master controller 8
The running parameter of middle engine 1, electrically controlled plunger pump 2 and electric control multi-way valve 5；
S2, stop machine hand example operation, the master controller 8 is according to the running parameter of record to the institute of excavator
It states engine 1, electrically controlled plunger pump 2 and electric control multi-way valve 5 and sends instruction；
S3, the engine 1 realize the rotation of specific rotation speeds, the automatically controlled plunger according to the instruction of the master controller 8
Pump 2 and electric control multi-way valve 5 adjust flow according to the instruction of the master controller 8 respectively, to drive the oil cylinder 6 flexible and answer
The existing machine hand example operation.
Wherein, operating mode includes mainly that Land leveling and inclined-plane are modified in S1.
In addition, sending order-driven engine 1, electrically controlled plunger pump 2 and electric control multi-way valve 5 in master controller 8 reappears machine hand
Before example operation, the parameter value in master controller 8 can be corrected.
Specifically, the bearing calibration of the parameter value of engine 1 and electrically controlled plunger pump 2 may be used in the prior art more at
Ripe method.In addition, the corrected method of current/voltage parameter value to electric control multi-way valve 5 is specific as follows：
S4：First pilot pressure value of electricity proportional pilot valve, Yi Jifu when acquiring example operation by pressure sensor
Second pilot pressure value of electricity proportional pilot valve when existing example operation；Using the first PID controller to the described first first pilot
Force value and the second pilot pressure value carry out operation, and according to operation result to the current/voltage parameter value of the electric control multi-way valve 5
Carry out first time correction.
Can also include S5 on this basis：
First shift value of oil cylinder 6 when acquiring example operation by displacement sensor 7, and when reproduction example operation
The second displacement value of oil cylinder 6；Operation, and root are carried out to first shift value and second displacement value using the second PID controller
Second-order correction is carried out to the current/voltage parameter value of the electric control multi-way valve 5 according to operation result.
Master controller 8 sends out instruction according to the current/voltage parameter value of the electric control multi-way valve 5 after correction.
The autocontrol method of the excavator based on tracking pattern of the present embodiment automatically controls work(using electric-control system
The workload of machine hand can be reduced, machine productivity is improved.On this basis, make full use of machine hand flat on different operating modes such as ground
Example operation whole, under slope surface finishing, asking for all operating modes cannot be coped with by solving the control strategy of electric-control system " foolproof "
Topic completes the automatically controlled mutual supplement with each other's advantages with people.In addition, by the rotating speed of engine 1, the electricity of electrically controlled plunger pump 2 and electric control multi-way valve 5
Stream/voltage battery parameter value controls entire working cycles, at the same using as the displacement of the oil cylinder 6 of actuator come to implementation effect into
Row correction, to accurately realize the reproduction of example operation.
Embodiment of above is merely to illustrate the present invention rather than limitation of the present invention.Although with reference to embodiment to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that, to technical scheme of the present invention carry out it is various combination,
Modification or equivalent replacement, without departure from the spirit and scope of technical solution of the present invention, the right that should all cover in the present invention is wanted
It asks in range.
Claims (7)
1. a kind of excavator based on tracking pattern, which is characterized in that including engine, electrically controlled plunger pump, electric control multi-way valve, elder generation
Lead pump, oil cylinder and master controller；The engine connects and drives the electrically controlled plunger pump；The oil outlet of the electrically controlled plunger pump
Connect the oil inlet of the electric control multi-way valve；The electric control multi-way valve is connect with the pioneer pump, and is by the pioneer pump
The electric control multi-way valve provides control oil；The oil outlet of the electric control multi-way valve connects the oil cylinder and the oil cylinder is driven to stretch
Contracting；The engine, electrically controlled plunger pump and electric control multi-way valve are connect with the master controller signal, and respectively by the work of itself
It is sent to the master controller as parameter；The master controller reappears the demonstration of machine hand automatically according to the running parameter received
Property operation；The pioneer pump connects the electric control multi-way valve by electric proportional pilot valve；The electricity proportional pilot valve connects pressure
Sensor, and when the first pilot pressure value and reproduction example operation when by the pressure sensor by example operation
Second pilot pressure value is sent to the master controller；The oil cylinder connects displacement sensor, and institute's displacement sensors are by oil cylinder
The first shift value in example operation and the second displacement value when reappearing example operation are sent to the master controller.
2. the excavator according to claim 1 based on tracking pattern, which is characterized in that further include the connection electric ratio
First PID controller of pilot valve and electric control multi-way valve, first PID controller is to the first pilot pressure value and second
Pilot pressure value carries out operation, and is joined to the current/voltage of electric control multi-way valve described in the master controller according to operation result
Numerical value carries out first time correction.
3. the excavator according to claim 1 based on tracking pattern, which is characterized in that further include that the connection displacement passes
Second PID controller of sensor, second PID controller carry out operation to first shift value and second displacement value, and
Second-order correction is carried out to the current/voltage parameter value of the electric control multi-way valve according to operation result.
4. according to the autocontrol method of excavator of any one of the claims 1 to 3 based on tracking pattern, feature exists
In including the following steps：
S1：It carries out machine hand example operation respectively under different operating modes, and is recorded in one action cycle and sent out by master controller
The running parameter of motivation, electrically controlled plunger pump and electric control multi-way valve；
S2, stop machine hand example operation, the master controller is according to the running parameter of record to the hair of excavator
Motivation, electrically controlled plunger pump and electric control multi-way valve send instruction；
S3, the engine realize the rotation of specific rotation speeds, the electrically controlled plunger pump and electricity according to the instruction of the master controller
It controls multi-way valve and flow is adjusted according to the instruction of the master controller respectively, to drive the oil cylinder to stretch and reappear the machine hand
Example operation；
S4, shown by the first pilot pressure value of electricity proportional pilot valve when pressure sensor acquisition example operation, and reproduction
Second pilot pressure value of electricity proportional pilot valve when plasticity operates；
S5：First shift value of oil cylinder when acquiring example operation by displacement sensor, and oil when reproduction example operation
The second displacement value of cylinder.
5. according to the method described in claim 4, it is characterized in that, further including S6：Using the first PID controller to described first
Pilot pressure value and the second pilot pressure value carry out operation, and according to operation result to the current/voltage of the electric control multi-way valve
Parameter value carries out first time correction.
6. according to the method described in claim 5, it is characterized in that, further including that S7 uses the second PID controller to described first
Shift value and second displacement value carry out operation, and according to operation result to the current/voltage parameter value of the electric control multi-way valve into
Row second-order correction.
7. according to the method described in claim 6, it is characterized in that, the master controller is according to the automatically controlled multichannel after correction
The current/voltage parameter value of valve sends out instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610071322.4A CN105544627B (en) | 2016-02-01 | 2016-02-01 | A kind of excavator and its autocontrol method based on tracking pattern |
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| CN201610071322.4A CN105544627B (en) | 2016-02-01 | 2016-02-01 | A kind of excavator and its autocontrol method based on tracking pattern |
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| CN105544627B true CN105544627B (en) | 2018-10-16 |
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| CN106245706B (en) * | 2016-08-02 | 2018-07-20 | 福州大学 | loading machine intelligent control method |
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|---|---|---|---|---|
| CN1153248A (en) * | 1995-10-31 | 1997-07-02 | 三星重工业株式会社 | Method for controlling operation of power excavator |
| CN1262716A (en) * | 1998-03-18 | 2000-08-09 | 日立建机株式会社 | Automatically operated shovel and stone crushing system comprising same |
| CN102877500A (en) * | 2012-09-29 | 2013-01-16 | 浙江大学 | Automatic identification method for operating cycle stages of excavator |
| CN103857844A (en) * | 2011-10-05 | 2014-06-11 | 沃尔沃建造设备有限公司 | System for controlling land leveling work which uses an excavator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7942208B2 (en) * | 2008-11-06 | 2011-05-17 | Purdue Research Foundation | System and method for blade level control of earthmoving machines |
-
2016
- 2016-02-01 CN CN201610071322.4A patent/CN105544627B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1153248A (en) * | 1995-10-31 | 1997-07-02 | 三星重工业株式会社 | Method for controlling operation of power excavator |
| CN1262716A (en) * | 1998-03-18 | 2000-08-09 | 日立建机株式会社 | Automatically operated shovel and stone crushing system comprising same |
| CN103857844A (en) * | 2011-10-05 | 2014-06-11 | 沃尔沃建造设备有限公司 | System for controlling land leveling work which uses an excavator |
| CN102877500A (en) * | 2012-09-29 | 2013-01-16 | 浙江大学 | Automatic identification method for operating cycle stages of excavator |
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