CN110409541A - A kind of excavator control method and system - Google Patents
A kind of excavator control method and system Download PDFInfo
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- CN110409541A CN110409541A CN201910534126.XA CN201910534126A CN110409541A CN 110409541 A CN110409541 A CN 110409541A CN 201910534126 A CN201910534126 A CN 201910534126A CN 110409541 A CN110409541 A CN 110409541A
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- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to excavator fields, in particular to a kind of excavator control method and system, including obtain controlling curve to be adjusted corresponding with present mode；The current reaction speed of the slope characterization excavator of controlling curve to be adjusted；According to the adjustment order of user, controlling curve to be adjusted is adjusted by adjusting strategy, obtains target control curve；Wherein, adjustable strategies include it is following any one: nonlinear adjustment or automation adjustment or the adjustment of dead zone duration or Serial regulation；Target control program is generated according to target control curve, target control program includes for making the controlling curve of excavator meet at least one control command of target control curve.Nonlinear adjustment or automation adjustment or the adjustment of dead zone duration or Serial regulation are carried out by controlling curve to excavator, enables a variety of different special operation conditions of excavator flexible adaptation, improves efficiency, reduces oil consumption.
Description
Technical field
The present invention relates to excavator fields, in particular to a kind of excavator control method and system.
Background technique
Conventional excavators host factory presets more to make excavator be suitable for a variety of different operating conditions usually before factory
Kind of operating mode, so as to manipulator under different operating conditions optional immediate mode, to promote manipulator's driver comfort；But
Excavator often encounters a variety of different special operation conditions in practical applications, and special requirement is suffered to operation mode.This
Immediate operating mode in controller is set in kind cannot adapt to various special operation conditions completely.Because host factory before factory nothing
Method meets various special operation conditions, therefore various operation modes can not be all integrated into controller for excavators.
Different operators operates the operating effect that same excavator often reaches different, such as identical operating condition and gear
Under, efficiency and oil consumption are all not quite similar；This all relies on operator in the experience accumulation of the control median year of excavator, for new
For hand operator, it is difficult to grasp this technical ability in the short period.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of excavator control method and system, to solve excavator control not
Enough flexible problems.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the present invention proposes a kind of excavator control method, comprising: obtain corresponding with present mode
Controlling curve to be adjusted；The controlling curve characterization current operation handle displacement amount to be adjusted is corresponding with current spool displacement amount
Relationship；The current reaction speed of the slope characterization excavator of the controlling curve to be adjusted；According to the adjustment order of user, pass through
Adjustable strategies are adjusted the controlling curve to be adjusted, obtain target control curve；Wherein, the adjustable strategies include such as
Descend any one: nonlinear adjustment, automation adjustment, the adjustment of dead zone duration, Serial regulation；Wherein, the target control curve
Characterize the target corresponding relationship of operation handle displacement and spool displacement amount；The target control slope of a curve characterizes excavator
Goal response speed；Target control program is generated according to the target control curve, the target control program includes to be used for
The controlling curve of excavator is set to meet at least one control command of the target control curve；
Second aspect, the embodiment of the present invention also propose a kind of excavator control system, comprising: module are obtained, for obtaining
Controlling curve to be adjusted corresponding with present mode；The controlling curve to be adjusted characterization current operation handle displacement amount and current
The corresponding relationship of spool displacement amount；The current reaction speed of the slope characterization excavator of the controlling curve to be adjusted；Adjust mould
Block is adjusted the controlling curve to be adjusted by adjusting strategy for the adjustment order according to user, obtains target control
Koji-making line；Wherein, the adjustable strategies include it is following any one: when nonlinear adjustment or automation adjustment or dead zone
Long adjustment or Serial regulation；Processing module, for generating target control program, the mesh according to the target control curve
Mark control program includes for making the controlling curve of excavator meet at least one control command of the target control curve；With
In the controller that the target control program is imported to the excavator, so that the controller of the excavator calls the target
Control program.
Pick machine control method and system provided by the embodiment of the present invention, including obtain corresponding with present mode to be adjusted
Controlling curve；The corresponding relationship of controlling curve the characterization current displacement of operation handle and the current displacement of spool to be adjusted；Wait adjust
The current reaction speed of the slope characterization excavator of whole controlling curve；According to the adjustment order of user, treated by adjusting strategy
Adjustment controlling curve is adjusted, and obtains target control curve；Wherein, adjustable strategies include it is following any one: non-linear tune
Whole or automation adjustment or the adjustment of dead zone duration or Serial regulation；Wherein, target control curve characterizes operation handle
Displacement and spool displacement amount target corresponding relationship；The goal response of the slope characterization excavator of target control curve characterization
Speed；Target control program is generated according to target control curve, target control program includes the controlling curve for making excavator
Meet at least one control command of target control curve.By controlling curve to excavator carry out nonlinear adjustment or
Automation adjustment or the adjustment of dead zone duration or Serial regulation, enable excavator flexible adaptation a variety of different special
Operating condition improves efficiency, and reduces oil consumption.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structural schematic diagram of excavator provided by the embodiment of the present invention.
Fig. 2 shows a kind of flow diagrams of excavator control method provided by the embodiment of the present invention.
Fig. 3 shows a kind of schematic diagram of excavator controlling curve provided by the embodiment of the present invention.
Fig. 4 shows a kind of schematic diagram of excavator controlling curve adjusted provided by the embodiment of the present invention.
Fig. 5 shows a kind of block diagram of excavator control system provided by the embodiment of the present invention.
Icon: 100- excavator；110- operation handle；115- pressure sensor；120- controller；130- ratio electromagnetism
Valve；140- main control valve；150- executing agency；The dead zone 10-；13- controlling curve to be adjusted；15- target control curve；200- control
System；210- obtains module；220- adjusts module；230- processing module.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing a variety of different can configure to arrange and design herein.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Fig. 1 is please referred to, is a kind of structural schematic diagram of excavator provided by the embodiment of the present invention.
Excavator 100 includes operation handle 110, pressure sensor 115, controller 120, proportion magnetic valve 130, main control valve
140 and executing agency 150, operation handle 110, pressure sensor 115, controller 120, proportion magnetic valve 130, main control valve
140 and executing agency 150 be sequentially connected electrically.
Operation handle 110 generates handle displacement amount signal for receiving user's operation, and handle displacement amount signal is converted
Controller 120 is sent at electric signal.
In a kind of possible embodiment, pressure sensor 115 is used for the excavator of hydraulic control pilot control mode.In hydraulic control
In the excavator of pilot control mode, handle displacement amount signal is converted into pressure signal and is sent to pressure biography by operation handle 110
The pressure signal is converted into electric signal and is sent to controller 120 by sensor 115, pressure sensor 115.Controller 120 is based on
Handle displacement amount corresponding to the electric signal that operation handle 110 is transmitted is calculated, and the handle displacement amount is sent to proportion magnetic valve
130。
Proportion magnetic valve 130 is used to receive the handle displacement amount of the transmission of controller 120, converts elder generation for the handle displacement amount
Pilot force signal, and the pilot pressure signal is transmitted to main control valve 140.
Main control valve 140 is used to receive the pilot pressure signal of the transmission of proportion magnetic valve 130, is produced according to the pilot pressure signal
Raw corresponding spool displacement amount, and spool displacement amount is exported and gives excavator 100 executing agency 150.Spool displacement amount is for controlling
The direction of the main oil sources of 100 system of excavator processed and flow.
Executing agency 150 is used to receive the spool displacement amount of the transmission of main control valve 140, and is controlled and dug according to the spool displacement amount
Pick machine is moved accordingly.
It referring to figure 2., is a kind of flow diagram of excavator control method provided by the embodiment of the present invention.
Step 301, controlling curve to be adjusted corresponding with present mode is obtained.
Acquisition controlling curve to be adjusted corresponding with present mode, i.e. excavator present mode simultaneously do not meet current working
When, it needs to be adjusted controlling curve at this time.
It referring to figure 3., is a kind of schematic diagram of excavator controlling curve provided by the embodiment of the present invention.Control to be adjusted
The abscissa of curve 13 is handle displacement amount, and ordinate is spool displacement amount, and slope characterizes the reaction speed of excavator, slope
Bigger, reaction speed is faster, and slope is smaller, and reaction speed is slower.It should be noted that merely illustrative in figure.
Controlling curve 13 to be adjusted characterizes the corresponding relationship of current operation handle displacement amount and current spool displacement amount, wait adjust
The current reaction speed of the slope characterization excavator of whole controlling curve 13.
Step 302, according to the adjustment order of user, controlling curve to be adjusted is adjusted by adjusting strategy, is obtained
Target control curve.
It referring to figure 4., is a kind of schematic diagram of excavator controlling curve adjusted provided by the embodiment of the present invention.Its
Middle bold portion is controlling curve 13 to be adjusted, and dotted portion is target control curve 15 adjusted.
The current working condition of excavator is determined by user first, is then selected immediate silent with current working condition
Recognize controlling curve；When user thinks to default controlling curve and does not meet or not fully meet the current working condition of excavator
When, user modifies to default controlling curve.
User modifies to controlling curve to be adjusted by smart machine or display, for example, first selecting control to be adjusted
The adjustable strategies of koji-making line, then the coordinate points for needing to adjust on controlling curve to be adjusted are selected, new coordinate value is then inputted, with
Obtain target control curve, wherein target control curve characterizes operation handle displacement pass corresponding with the target of spool displacement amount
System, target control slope of a curve characterize the goal response speed of excavator.
It should be noted that adjustable strategies include built-in fine tuning, completely adjustment, importing control program, export control program
And factory reset.Built-in fine tuning is general adjustment, and what is generally adjusted is in the nature Serial regulation；Adjustment includes general completely
Adjustment and advanced adjustment, middle-and-high-ranking adjustment package include dead zone duration adjustment, Serial regulation, nonlinear adjustment and automation and adjust
It is whole.
Import control program are as follows: user imports the control program for the adaptation specific operation that veteran user is adjusted
Excavator, and the operation of process control excavator is controlled with this.
Export control program are as follows: the control program for the adaptation specific operation that user adjusts oneself export to server-side or
Other smart machines.
Factory reset: when user think the current target control program of excavator no longer adapt to current working,
Factory reset button is clicked, can restore to default control program corresponding to controlling curve, and to default controlling curve institute
Corresponding control process control excavator operation.
Nonlinear adjustment are as follows: instructed according to the nonlinear adjustment of user, adjust controlling curve to be adjusted in different time sections
Slope.The adjustable strategies for first selecting controlling curve to be adjusted are nonlinear adjustment, then select and need on controlling curve to be adjusted
Multiple coordinate points of adjustment, when the coordinate points quantity for needing to adjust is greater than certain threshold value, the gain of controlling curve to be adjusted is
It is non-linear, new coordinate value is then inputted, to obtain nonlinear Control curve, enables the various differences of excavator flexible adaptation
Special operation condition.
In a kind of possible embodiment, when smart machine or display are touch screen, user can directly be dragged wait adjust
Whole controlling curve, to change the non-linear gain of controlling curve to be adjusted.
Automation adjustment are as follows: according to the automation adjustment instruction of user, adjust controlling curve to be adjusted in cyclically-varying.
For example, user can adjust separately when cutting the earth in a cycle when excavator executes the task of shoveling, entrucking
Controlling curve to be adjusted when controlling curve to be adjusted and entrucking, to obtain automatic operating controlling curve.When shoveling wait adjust
Controlling curve to be adjusted when whole controlling curve and entrucking collectively constitutes a cycle, after user clicks automatic running button, digs
Pick machine is automatic according to automatic operating controlling curve, circulation executes shoveling, entrucking movement, during this, does not need artificially to drive
Operation handle clicks cancel button when not needing excavator automatic running, and excavator stops automatic running.
Dead zone duration adjustment are as follows: according to the dead zone duration adjustment instruction of user, when adjusting the dead zone of controlling curve to be adjusted
It is long.
It is a kind of schematic diagram of excavator controlling curve provided by the embodiment of the present invention please continue to refer to Fig. 3.
A length of operation handle is mobile when dead zone 10 and the duration for the state that swing arm remains stationary, as shown in Figure 3.
It selectes the adjustable strategies of controlling curve to be adjusted first as the adjustment of dead zone duration, then selectes controlling curve to be adjusted and cross
The coordinate points of coordinate intersection, then input new coordinate value, so that the coordinate points are moved to left or moved to right, to obtain target control song
Line.
For example, when excavator rock comparison it is severe when, need to be appropriately extended the dead zone duration of excavator.
Serial regulation are as follows: instructed according to the Serial regulation of user, adjust the slope of controlling curve to be adjusted.
According to the Serial regulation of user instruct, adjust the abscissa of controlling curve to be adjusted, the maximum value of ordinate or/most
The slope of small value and controlling curve to be adjusted, to obtain Linear Control curve.
Step 303, target control program is generated according to target control curve.
Target control program includes at least one control for making the controlling curve of excavator meet target control curve
Order.
Step 304, target control program is imported to the controller of the excavator, so that the controller of excavator calls mesh
Mark control program.
Controller handle displacement amount according to corresponding to the electric signal that target control program calculating operation handle transmits, and will
The operation handle displacement is sent to proportion magnetic valve.
Step 305, by the export of target control program, encrypting and transmitting to server-side.
Target control program is saved to memory, target control program is exported, is sent to server-side after being encrypted, with
Make server-side to target control program carry out integrated management, all target control programs that server-side receives freely disclose or
Payment sale, or autonomous setting free trial time needed to activate journey by way of author authorizes after the free trial time
Sequence can continue the target control program for making view by oneself using author.Meanwhile all target control programs that server-side will receive
The Specifeca tion speeification of corresponding excavator carries out comprehensive analysis, such as efficiency, oil consumption, generates the main property of target control program
Energy parameter report, user meet the mesh of the best price/performance ratio of oneself operating condition according to mark control program Specifeca tion speeification report purchase
Control program of the beacon course sequence as oneself excavator.User official website, excavator factory apply uploading independent development certain is specific
Control program under operating condition simultaneously authorizes excavator factory to carry out the monitoring of excavator operation performance parameter.
It include: that memory is accessed by USB interface by mode derived from the target control program；Pass through bluetooth and intelligence
Equipment connection exports the target control program；The target control program is exported by Wi-Fi and smart machine；Pass through third
Square wireless network connection smart machine exports the target control program；The target control program is exported by GPS.
It is a kind of block diagram of excavator control system provided by the embodiment of the present invention please continue to refer to Fig. 4.
Excavator control system 200 includes obtaining module 210, adjustment module 220 and processing module 230.
Module 210 is obtained for obtaining controlling curve to be adjusted corresponding with present mode；The controlling curve to be adjusted
Characterize the corresponding relationship of current operation handle displacement amount and current spool displacement amount；The slope of the controlling curve to be adjusted characterizes
The current reaction speed of excavator.
It is understood that obtaining module 210 for executing step 301 in a kind of possible embodiment.
Module 220 is adjusted to be used for according to the adjustment order of user, by adjusting strategy to the controlling curve to be adjusted into
Row adjustment, obtains target control curve；Wherein, the adjustable strategies include it is following any one: nonlinear adjustment, automation are adjusted
Whole, the adjustment of dead zone duration, Serial regulation；Wherein, the target control curve characterization operation handle displacement and spool displacement amount
Target corresponding relationship；The goal response speed of the target control slope of a curve characterization excavator.
It is understood that adjustment module 220 is for executing step 302 in a kind of possible embodiment.
Processing module 230 is used to generate target control program, the target control program according to the target control curve
Comprising for making the controlling curve of excavator meet at least one control command of the target control curve；For by the mesh
Mark control program imports the controller of the excavator, so that the controller of the excavator calls the target control program.
It is understood that processing module 230 is for executing step 303, step 304 in a kind of possible embodiment
And step 305.
In conclusion excavator control method and system provided by the embodiment of the present invention, including acquisition and present mode
Corresponding controlling curve to be adjusted；Pair of controlling curve the characterization current displacement of operation handle and the current displacement of spool to be adjusted
It should be related to；The current reaction speed of the slope characterization excavator of controlling curve to be adjusted；According to the adjustment order of user, pass through tune
Whole strategy is adjusted controlling curve to be adjusted, obtains target control curve；Wherein, adjustable strategies include following any one
Kind: nonlinear adjustment or automation adjustment or the adjustment of dead zone duration or Serial regulation；Wherein, target control curve
Characterize the displacement of operation handle and the target corresponding relationship of spool displacement amount；The slope of target control curve characterization, which characterizes, to be excavated
The goal response speed of machine；Target control program is generated according to target control curve, target control program includes for making to excavate
The controlling curve of machine meets at least one control command of target control curve.It is carried out by the controlling curve to excavator non-thread
Property adjustment or automation adjustment or dead zone duration adjustment or Serial regulation, enable excavator flexible adaptation each
The different special operation condition of kind, improves efficiency, and reduces oil consumption.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, apparatus, equipment or computer journey
Sequence product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and hardware side
The form of the embodiment in face.Moreover, it wherein includes computer available programs that the embodiment of the present invention, which can be used in one or more,
Implement in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of computer program product.
The embodiment of the present invention referring to according to the method for the embodiment of the present invention, device, equipment and computer program product
Flowchart and/or the block diagram describes.It should be understood that can be realized by computer program instructions every in flowchart and/or the block diagram
The combination of process and/or box in one process and/or box and flowchart and/or the block diagram.It can provide these computers
Processor of the program instruction to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices
To generate a machine, so that generating use by the instruction that computer or the processor of other programmable data processing devices execute
In the dress for realizing the function of specifying in one or more flows of the flowchart and/or one or more blocks of the block diagram
It sets.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In several embodiments provided by the embodiment of the present invention, it should be understood that disclosed device and method, it can also
To realize by another way.Device and method embodiment described above is only schematical, for example, in attached drawing
Flow chart and block diagram show that the devices of multiple embodiments according to the present invention, method and computer program product are able to achieve
Architecture, function and operation.In this regard, each box in flowchart or block diagram can represent module, a program
A part of section or code, a part of the module, section or code include that one or more is patrolled for realizing defined
Collect the executable instruction of function.It should also be noted that in some implementations as replacement, function marked in the box
It can be different from the sequence marked in attached drawing to occur.For example, two continuous boxes can actually be basically executed in parallel,
They can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or stream
The combination of each box in journey figure and the box in block diagram and or flow chart, can the function as defined in executing or movement
Dedicated hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the calculating
Machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be individual
Computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.And
Storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as device (RAM, Random Access Memory), magnetic or disk.It needs
It is bright, herein, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, from
And to include the process, method, article or equipments of a series of elements not only to include those elements, but also including not bright
The other element really listed, or further include for elements inherent to such a process, method, article, or device.Do not having
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that include the element process,
There is also other identical elements in method, article or equipment.
The foregoing is merely alternative embodiments of the invention, are not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. a kind of excavator control method characterized by comprising
Obtain controlling curve to be adjusted corresponding with present mode；The controlling curve to be adjusted characterizes current operation handle displacement
The corresponding relationship of amount and current spool displacement amount；The current reaction speed of the slope characterization excavator of the controlling curve to be adjusted
Degree；
According to the adjustment order of user, the controlling curve to be adjusted is adjusted by adjusting strategy, obtains target control
Curve；Wherein, the adjustable strategies include it is following any one: nonlinear adjustment, automation adjustment, the adjustment of dead zone duration, line
Property adjustment；
Wherein, the target corresponding relationship of the displacement of the target control curve characterization operation handle and spool displacement amount；It is described
The goal response speed of target control slope of a curve characterization excavator；
Target control program is generated according to the target control curve, the target control program includes the control for making excavator
Koji-making line meets at least one control command of the target control curve；
The target control program is imported to the controller of the excavator, so that the controller of the excavator calls the mesh
Mark control program.
2. excavator control method as described in claim 1, which is characterized in that
It is described that the controlling curve to be adjusted is adjusted by adjusting Developing Tactics, comprising: according to the non-linear tune of user
Whole instruction adjusts the controlling curve to be adjusted in slope in different time periods.
3. excavator control method as described in claim 1, which is characterized in that it is described by adjusting Developing Tactics to it is described to
Adjustment controlling curve is adjusted, comprising:
According to the automation adjustment instruction of user, adjusting the controlling curve to be adjusted is in cyclically-varying.
4. excavator control method as described in claim 1, which is characterized in that it is described by adjusting Developing Tactics to it is described to
Adjustment controlling curve is adjusted, comprising:
According to the dead zone duration adjustment instruction of user, the dead zone duration of the controlling curve to be adjusted is adjusted；The dead zone duration
The duration for the state that swing arm remains stationary when mobile for operation handle.
5. excavator control method as described in claim 1, which is characterized in that it is described by adjusting Developing Tactics to it is described to
Adjustment controlling curve is adjusted, comprising:
It is instructed according to the Serial regulation of user, adjusts the slope of the controlling curve to be adjusted.
6. excavator control method as described in claim 1, which is characterized in that described to be generated according to the target control curve
After the step of target control program, comprising:
By target control program export, encrypting and transmitting to server-side；The server-side to the target control program into
Row integrated management；
It is described to include: by mode derived from the target control program
Memory is accessed by USB interface；
Couple the export target control program with smart machine by bluetooth；
The target control program is exported by Wi-Fi and smart machine；
Couple smart machine by third party's wireless network and exports the target control program；
The target control program is exported by GPS.
7. a kind of excavator control system characterized by comprising
Module is obtained, for obtaining controlling curve to be adjusted corresponding with present mode；The controlling curve characterization to be adjusted is worked as
The corresponding relationship of preceding operation handle displacement and current spool displacement amount；The slope of the controlling curve to be adjusted characterizes excavator
Current reaction speed；
Adjustment module is adjusted the controlling curve to be adjusted by adjusting strategy for the adjustment order according to user,
Obtain target control curve；Wherein, the adjustable strategies include it is following any one: nonlinear adjustment, automation adjustment, dead zone
Duration adjustment, Serial regulation；Wherein, the target pair of target control curve characterization the operation handle displacement and spool displacement amount
It should be related to；The goal response speed of the target control slope of a curve characterization excavator；
Processing module, for generating target control program according to the target control curve, the target control program includes to use
In at least one control command for making the controlling curve of excavator meet the target control curve；For by the target control
Program imports the controller of the excavator, so that the controller of the excavator calls the target control program.
8. excavator control system as claimed in claim 7, which is characterized in that
The adjustment module is also used to be instructed according to the nonlinear adjustment of user, adjusts the controlling curve to be adjusted in difference
The slope of period.
9. excavator control system as claimed in claim 7, which is characterized in that
The adjustment module is also used to the automation adjustment instruction according to user, and adjusting the controlling curve to be adjusted is in the period
Property variation；It is also used to the dead zone duration adjustment instruction according to user, adjusts the dead zone duration of the controlling curve to be adjusted；It is described
The duration for the state that swing arm remains stationary when a length of operation handle is mobile when dead zone.
10. excavator control system as claimed in claim 7, which is characterized in that
The processing module is also used to export the target control program, encrypting and transmitting to server-side；The server-side pair
The target control program carries out integrated management；
It is described to include: by mode derived from the target control program
Memory is accessed by USB interface；
Couple the export target control program with smart machine by bluetooth；
The target control program is exported by Wi-Fi and smart machine；
Couple smart machine by third party's wireless network and exports the target control program；
The target control program is exported by GPS.
Priority Applications (1)
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