CN110725359B - Trajectory control method and excavator - Google Patents
Trajectory control method and excavator Download PDFInfo
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- CN110725359B CN110725359B CN201911035164.7A CN201911035164A CN110725359B CN 110725359 B CN110725359 B CN 110725359B CN 201911035164 A CN201911035164 A CN 201911035164A CN 110725359 B CN110725359 B CN 110725359B
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
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Abstract
The invention provides a track control method and an excavator, relates to the technical field of engineering machinery, and is applied to the excavator with a controller, wherein the method comprises the following steps: acquiring preset track path information; receiving a repeated instruction of a user, acquiring current position information of the operation device and generating an orbit entering adjustment parameter; driving the operation device to enter a preset track path according to the rail entering adjustment parameter; and responding to the repeated command, and driving the working device to repeat the preset track path. When the operation device of the excavator needs to perform repeated operation, the operator only needs to send a repeated instruction to the controller, and the operation device can complete repeated operation according to the track repetition mode through the controller according to the control method, so that frequent operation of the operator is simplified, and the problem of high working strength when the operator needs to perform repeated operation for multiple times on the excavator is solved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a track control method and an excavator.
Background
With the rapid development of economy, the living standard of people is improved, the completeness of infrastructure construction is required, and large-scale engineering machinery plays an indispensable role in infrastructure construction. Among them, since the excavator is widely used in construction due to its characteristics, the excavator has higher work efficiency particularly in excavation, slope repair, flat ground and the like.
The traditional excavator is mainly a hydraulic control excavator, and the opening degree of each valve core of a main valve is controlled by a pilot handle through operating the pilot handle by an operator, so that different actions of the excavator are realized. However, in practical applications, due to the operating characteristics of the excavator, the excavator often needs to be repeatedly operated for the same operation for several times during work, and for an operator, the operator needs to repeatedly operate for a long time, which not only increases the working strength of the operator, but also easily causes fatigue.
Disclosure of Invention
The invention aims to provide a track control method and an excavator aiming at the defects in the prior art, so as to solve the problem that the labor intensity of an operator is high due to repeated operation of the existing excavator.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in one aspect of the embodiments of the present invention, a trajectory control method is provided, which is applied to an excavator with a controller, and the method includes: acquiring preset track path information; receiving a repeated instruction of a user, acquiring current position information of the operation device and generating an orbit entering adjustment parameter; driving the operation device to enter a preset track path according to the rail entering adjustment parameter; and responding to the repeated command, and driving the working device to repeat the preset track path.
Optionally, the operation device includes a rotation platform and a working device, and acquiring the preset trajectory path information includes: receiving a recording instruction of a user, and responding to the recording instruction, and acquiring a position parameter of the operation device to generate a preset track path; the position parameters of the working device comprise the position parameters of the rotary platform and the position parameters of the working device.
Optionally, the working device comprises a movable arm, a bucket rod and a rocker; the position parameters of the working device include: the angle parameters of the movable arm, the angle parameters of the bucket rod and the angle parameters of the rocker.
Optionally, the position parameter of the rotating platform is an angle parameter of the rotating platform.
Optionally, the obtaining the position parameter of the working device includes: the position parameters of the working device are acquired at intervals.
Optionally, the obtaining current position information of the working device and generating the track entry adjustment parameter includes: and comparing the current position information with preset position information in the preset track path information to generate track entering adjustment parameters.
Optionally, the driving the operation device to repeat the preset trajectory path includes: and when the operation device repeats the preset track path, acquiring the actual position information of the operation device, comparing the actual position information with the preset position information in the preset track path information to generate a deviation correction parameter, and driving the operation device to return to the preset track path according to the deviation correction parameter.
Optionally, before the operation device repeats the preset trajectory path, the method further includes: and presetting a deviation rectifying threshold according to the preset position information.
Optionally, the obtaining of the preset track path information further includes: and acquiring a plurality of preset track paths, and numbering the preset track paths.
In another aspect of the embodiments of the present invention, an excavator is provided, which applies any one of the above trajectory control methods.
The beneficial effects of the invention include:
the invention provides a track control method, which is applied to an excavator with a controller and comprises the following steps: firstly, the controller is required to acquire preset track path information, so as to determine the subsequent objects which need to be executed repeatedly. When the excavator needs to be repeatedly operated, an operator can simply send a repeated instruction to the controller, the controller obtains current position information of the operation device after receiving the repeated instruction of a user, track entering adjustment parameters are generated according to the current position information, and after the track entering adjustment parameters are determined, the controller drives and controls the operation device of the excavator to enter a preset track path according to the track entering adjustment parameters. After that, the controller responds to the repeated instruction, so that the preset track path before the operation device is driven to repeat, namely when the operation device of the excavator needs to perform repeated operation, an operator only needs to send the repeated instruction to the controller, the operation device can complete repeated operation according to the track repetition mode through the controller according to the control method, frequent operation of the operator is simplified, and the problem of high working strength when the operator needs to perform repeated operation for multiple times on the excavator is solved.
The invention also provides an excavator, and the track control method is applied to the excavator, so that the operation device of the excavator can be repeatedly operated by the controller when needed, the working strength of operators is effectively reduced, the intelligent degree of the excavator is improved, and the working efficiency of the excavator during operation can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a trajectory control method according to an embodiment of the present invention;
fig. 2 is a second schematic diagram of a trajectory control method according to an embodiment of the invention;
fig. 3 is a third schematic diagram of a trajectory control method according to an embodiment of the invention;
fig. 4 is one of schematic structural diagrams of an apparatus of a trajectory control method according to an embodiment of the present invention;
fig. 5 is a second schematic structural diagram of an apparatus of a trajectory control method according to an embodiment of the present invention.
Icon: 500-an operation end; 501-a controller; 502-a rotary platform angle sensor; 503-working device angle sensor; 5031-boom angle sensor; 5032-dipper angle sensor; 5033-Rocker Angle sensor; 504-job device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. It should be noted that, in the case of no conflict, various features in the embodiments of the present invention may be combined with each other, and the combined embodiments are still within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "first", "second", "third", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Due to the operating characteristics of an excavator, the work device (i.e., both the work implement and the revolving platform including the excavator) generally needs to repeat the same operation a plurality of times to achieve the purpose of work. Therefore, the conventional excavator requires an operator to perform repeated operations for many times, and each operation includes various combined actions such as expansion and contraction of the working device, amplitude variation and the like, and rotation of the rotating platform and the like, so that the working intensity of the operator is high, and the operator is easy to feel fatigue. Based on the basis, the application provides a track control method, and aims to provide a feasible method for realizing repeated operation of the excavator from the perspective of a track path.
In an aspect of the embodiments of the present invention, there is provided a trajectory control method applied to an excavator having a controller 501, with reference to fig. 1, the method including: acquiring preset track path information; receiving a repeat instruction of a user, acquiring current position information of the operation device 504 and generating an orbit entering adjustment parameter; driving the working device 504 to enter a preset trajectory path according to the rail entry adjustment parameter; in response to the repeat command, the work implement 504 is driven to repeat the preset trajectory path.
For example, as shown in fig. 1, the method may be performed based on an operation terminal 500 of an excavator, a controller 501, and an angle sensor, to control the operation of a work implement 504 of the excavator. The connection may be as shown in fig. 4, with an angle sensor provided on work implement 504. The excavator can be composed of an electric control main valve, an electric control handle, an electric control pilot valve and the like. The method may comprise the steps of:
step S10: and acquiring preset track path information.
Track paths that may need to be repeated may be previously saved in the memory, thereby forming a preset track path information database. First, the preset track path information may be directly written into the memory, or may be stored in the memory by recording the track path of the working device 504. Second, the memory may be an external memory that is independent and can be read by the controller 501, or a memory may be provided in the controller 501 for storing instructions and data. The memory may hold instructions or data that the controller 501 is about to call or has just used or needs to cycle. The data may be selected preset track path information. Or may be external memory or memory internal to the controller 501. When the controller 501 needs to call an instruction or data to be called or used immediately or needing to be recycled, the instruction or data can be directly read from the memory inside the controller 501, so that the waiting time of the controller 501 is reduced, and the efficiency of the system is improved.
Step S20: receiving a repeat instruction from the user, obtaining current position information of the work device 504 and generating an on-track adjustment parameter.
When an operator judges that the operator needs to perform repeated operation according to the operation state of the excavator, the operator sends a repeated instruction to the controller 501 through the operation terminal 500, and when the controller 501 receives the repeated instruction, the controller firstly acquires the acquired angle parameters by using the angle sensor, determines the current position information of the operation device 504, and generates the track entering adjustment parameters according to a preset program. The track advance adjustment parameter is that the controller 501 generates a track advance path that enables the working device 504 to enter the preset track path according to the current position of the working device 504.
Step S30: the working device 504 is driven to enter the predetermined trajectory path according to the track-entering adjustment parameter.
After the controller 501 generates the track entering adjustment parameter, the operation device 504 is controlled to return the operation device 504, which is originally located outside the preset track path, to the preset track path according to the track entering path, so that the subsequent operation device 504 can conveniently realize repeated operation in a repeated track manner.
Step S40: in response to the repeat command, the work implement 504 is driven to repeat the preset trajectory path.
After the controller 501 has adjusted the operation device 504 back to the preset trajectory path, the controller 501 controls the operation device 504 to repeat according to the preset trajectory path in response to the repeat command, thereby completing the final operation.
Optionally, the working device 504 includes a rotating platform and a working device, and acquiring the preset trajectory path information includes: receiving a recording instruction of a user, and in response to the recording instruction, acquiring a position parameter of the working device 504 to generate a preset trajectory path; the position parameters of the working device 504 include a position parameter of the rotating platform and a position parameter of the working device.
Illustratively, as shown in fig. 4, the working device 504 includes a rotary platform and a working device, that is, a rotary platform angle sensor 502 and a working device angle sensor 503 are respectively disposed on the rotary platform and the working device, and the two angle sensors are respectively electrically connected to the controller 501, so that the controller 501 can more accurately determine the position information of the working device 504. As shown in fig. 2, the controller 501 records and stores the trajectory path of the work implement 504 when the operator manually manipulates the work implement 504. The record storage mode comprises the following steps:
step S101: and receiving a recording instruction of a user and responding to the recording instruction.
When an operator determines that the working device 504 of the excavator needs to perform repeated operation for multiple times according to the actual working condition of the excavator, the operator may start the button for acquiring the preset trajectory path, that is, send a recording instruction to the controller 501, and after receiving the recording instruction, the controller 501 enters a recording-while-recording storage mode. The specific output mode can be that a recording switch is arranged on a handle of the excavator. Specifically, the voltage signal may be 5V, and is electrically connected to the controller 501.
Step S102: acquiring position parameters of the working device 504 to generate a preset trajectory path; the position parameters of the working device 504 include a position parameter of the rotating platform and a position parameter of the working device.
When the controller 501 enters the recording-while-storing mode, the operator starts to manually operate the working device 504 of the excavator, which may include a position parameter of the revolving platform, i.e., a rotation angle parameter thereof, and a position parameter of the working device, i.e., an angle parameter thereof in the space system. After acquiring the angle parameters of the multiple rotary platforms and the angle parameters of the working device, the controller 501 may convert the angle parameters into multiple pieces of position information recognizable by a computer through a preset program, and may further link the multiple pieces of position information into one track path according to the acquired timeline and store the track path in a memory. In addition, after the operation of the operator is completed, an end instruction may be issued to the controller 501, and at this time, the controller 501 completes the step of acquiring the preset trajectory path information.
Optionally, the working device comprises a movable arm, a bucket rod and a rocker; the position parameters of the working device include: the angle parameters of the movable arm, the angle parameters of the bucket rod and the angle parameters of the rocker.
For example, as shown in fig. 5, the working device may further include a boom, an arm, a stick, and a stick. The corresponding position parameters of the working device include a boom angle sensor 5031 arranged on the side of the boom, an arm angle sensor 5032 arranged on the side of the arm, and a rocker angle sensor 5033 arranged on the side of the rocker, which CAN be electrically connected to the controller through a CAN bus, and each angle sensor sends data to the CAN bus through a J1939 communication protocol and is read by the controller 501 through the CAN bus. Therefore, the information acquired by the controller 501 can be further enriched, so that the controller 501 can more accurately judge the current position information of the excavator work device 504. In addition, in order to facilitate accurate reference of angle information acquired by each angle sensor, before preset track path information is acquired, the oil cylinder of the movable arm, the oil cylinder of the arm and the oil cylinder of the rocker are completely contracted to the minimum position, so that the relative zero position of each angle sensor is established.
In addition, in order to facilitate the operator to grasp the real-time state of the working device 504 more clearly and intuitively when the operator repeats the preset trajectory path for the working device 504, a display device may be further provided, and the display device is connected to the controller 501 through a CAN bus, so as to display the preset trajectory path and the actual trajectory path.
Optionally, the position parameter of the rotating platform is an angle parameter of the rotating platform.
For example, as shown in fig. 5, the position parameter of the rotating platform may be an angle parameter collected by a rotating platform angle sensor 502 disposed thereon. This embodiment may be combined with the boom, arm, and swing embodiments described above such that work implement 504 of the excavator forms an overall position measurement system. In order to facilitate accurate reference of the angle information acquired by the rotary platform angle sensor 502, the relative zero position of the angle sensor can be established after the upper rotary platform and the lower rotary platform are aligned and parallel before the preset track path information is acquired.
Optionally, acquiring the position parameter of the working device 504 includes: the interval acquires a position parameter of the working device 504.
For example, in order to reduce the amount of calculation performed by the controller 501 and reduce the possibility of failure and thus reduce the manufacturing cost, the controller 501 may acquire the dot position information of the work implement 504 at regular intervals when acquiring the position parameters of the work implement 504. Thereby being established as a preset trajectory path according to the timeline.
Optionally, the acquiring current position information of the work device 504 and generating the tracking adjustment parameter includes: and comparing the current position information with preset position information in the preset track path information to generate track entering adjustment parameters.
For example, acquiring the current position information of the work implement 504 and generating the tracking adjustment parameter may include the following tracking modes:
an illustrative one: after the controller 501 obtains the current position information of each device in the working devices 504 through each angle sensor, the current position information is compared with the start position information in the preset track path information, and if the current position information is consistent with the start position information in the preset track path information, the track entering adjustment parameter is set to zero, that is, the position information of the working devices 504 is not adjusted (because the current position information is already at the start of the preset track path), and the subsequent step of repeating the preset track path is directly performed. If the comparison is inconsistent, the controller 501 determines the distance from the current position information to the starting point in the preset track path, generates a track entry adjustment parameter, that is, generates a track entry path returning from the current position information to the starting point of the preset track path, and then executes the next step, that is, the controller 501 drives the operation device 504 to enter the starting point of the preset track path.
Another illustrative example is: after the controller 501 obtains the current position information of each device in the working devices 504 through each angle sensor, the current position information is compared with the start position information in the preset track path information, and if the current position information is consistent with the start position information in the preset track path information, the track entering adjustment parameter is set to zero, that is, the position information of the working devices 504 is not adjusted (because the current position information is already at the start of the preset track path), and the subsequent step of repeating the preset track path is directly performed. If the comparison is inconsistent, the controller 501 determines the distance from the current position information to the nearest point in the preset track path from the current position information, determines the distance from the nearest point in the current position to the starting point in the preset track path, and generates a track entry adjustment parameter according to the two distance information, that is, generates a track entry path including a point from the current position information back to the preset track path, which is nearest to the current position, and then back to the starting point, and then executes the next step, that is, the controller 501 drives the operation device 504 to enter the starting point of the preset track path.
An illustrative further embodiment: after the controller 501 obtains the current position information of each device in the working devices 504 through each angle sensor, the current position information is compared with all the position information in the preset track path information, if the current position information is consistent with all the position information in the preset track path information, the track entering adjustment parameter is set to zero, that is, the position information of the working devices 504 is not adjusted (because the current position information is already at a certain point in the preset track path), and the subsequent step of repeating the remaining preset track path is directly performed. If the comparison is inconsistent, the controller 501 determines that the distance from the current position information to the nearest point in the preset track path from the current position information generates a track entry adjustment parameter, that is, a track entry path returning from the current position information to the nearest point in the preset track path from the current position information to the current position is generated, and then the next step is executed, that is, the controller 501 drives the operation device 504 to enter the nearest point in the preset track path from the current position, and the controller 501 drives the operation device 504 to complete the path from the nearest point in the preset track path from the current position to the end point of the preset track path.
Optionally, the driving the working device 504 to repeat the preset trajectory path includes: when the operation device 504 repeats the preset track path, the actual position information of the operation device 504 is obtained, the actual position information is compared with the preset position information in the preset track path information to generate the deviation correction parameter, and the operation device 504 is driven to return to the preset track path according to the deviation correction parameter.
Illustratively, as shown in fig. 3, driving the working device 504 to repeat the preset trajectory path includes the following steps:
step S401: when the work device 504 repeats the preset trajectory path, the actual position information of the work device 504 is acquired.
In order to avoid errors in repetitive motion when the controller 501 drives the working device 504 according to the preset trajectory path, feedback regulation, such as a PID control method, may be introduced. It is first necessary for the controller 501 to acquire the actual position information of the work implement 504 in real time during the course of the repeated path of the work implement 504.
Step S402: the actual position information is compared with preset position information in the preset track path information to generate a deviation correction parameter, and the operation device 504 is driven to return to the preset track path according to the deviation correction parameter.
When the controller 501 compares the obtained actual position information with the preset track path information (i.e., compares the obtained actual position information with the track path being repeated), and then the controller 501 generates a deviation correction parameter according to the distance from the actual position information to the nearest point of the preset track path, that is, a deviation correction path is generated, and then the controller 501 drives the operation device 504 to return to the preset track path, thereby completing the remaining track paths which need to be repeated. Therefore, the accuracy of the work device 504 in repeating the trajectory path can be further improved, and a large error can be avoided.
Optionally, before the work device 504 repeats the preset trajectory path, the method further includes: and presetting a deviation rectifying threshold according to the preset position information.
For example, in order to improve the efficiency of repeated execution of the work implement 504 and reduce the processing load of the controller 501, a deviation threshold may be set, that is, a maximum range within which the work implement 504 can deviate is set in advance according to the precision of the work requirement, and the critical value of the maximum range is the deviation threshold. When the distance that the working device 504 deviates from the preset trajectory path is less than or equal to the deviation correction threshold, the controller 501 does not generate the deviation correction parameter for the working device 504. When the deviation distance is greater than the deviation threshold, a deviation rectification procedure is initiated to generate deviation rectification parameters for the operation device 504.
Optionally, the obtaining of the preset track path information further includes: and acquiring a plurality of preset track paths, and numbering the preset track paths.
For example, in order to further improve the operating efficiency and the operating flexibility of the excavator, a plurality of different preset track paths may be stored when the preset track path is obtained, and the preset track paths may be numbered for the convenience of selection by an operator. For example, a repetition switch is installed on a handle of the excavator, and in order to select a plurality of preset track paths, a roller can be installed on the handle, and the roller is numbered and correspondingly matched with the plurality of preset track paths. In actual operation, the preset trajectory path to be repeated is selected, and then the repeat switch is activated, so that the controller 501 receives a repeat command.
In another aspect of the embodiments of the present invention, an excavator is provided, which applies any one of the above trajectory control methods.
By way of example, the trajectory control method is applied to an excavator, so that the controller 501 can complete repeated operation on the working device 504 of the excavator when the working device 504 of the excavator needs to be needed, the working intensity of operators is effectively reduced, the intelligent degree of the excavator is improved, and meanwhile the working efficiency of the excavator during operation can be improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A trajectory control method, applied to an excavator having a controller, the method comprising:
acquiring preset track path information;
receiving a repeated instruction of a user, acquiring current position information of the operation device and generating a track entering adjustment parameter, wherein the track entering adjustment parameter is a track entering path which enables the operation device to enter a preset track path;
the acquiring current position information of the working device and generating the track entering adjustment parameter includes: comparing the current position information with preset position information in the preset track path information, determining position information of a point closest to the current position information in the preset track path information, and generating the track entering adjustment parameter according to the position information of the closest point and the current position information;
driving the operation device to enter a preset track path according to the rail entering adjustment parameter;
responding to the repeat instruction, and driving the operation device to repeat the preset track path;
the operation device comprises a rotary platform and a working device, and the step of acquiring the preset track path information comprises the following steps: receiving a recording instruction of a user, and responding to the recording instruction, and acquiring a position parameter of the operation device to generate the preset track path; wherein the position parameters of the working device comprise position parameters of the rotating platform and position parameters of the working device.
2. The trajectory control method according to claim 1, wherein the working device includes a boom, an arm, and a stick; the position parameters of the working device include: the angle parameter of the movable arm, the angle parameter of the bucket rod and the angle parameter of the rocker.
3. The trajectory control method of claim 1, wherein the position parameter of the rotating platform is an angle parameter of the rotating platform.
4. The trajectory control method according to any one of claims 1 to 3, wherein the acquiring the position parameter of the working device includes: and acquiring the position parameters of the operation device at intervals.
5. The trajectory control method according to claim 1, wherein the driving the working device to repeat the preset trajectory path includes: and when the operation device repeats the preset track path, acquiring actual position information of the operation device, comparing the actual position information with preset position information in the preset track path information to generate a deviation correction parameter, and driving the operation device to return to the preset track path according to the deviation correction parameter.
6. The trajectory control method according to claim 5, further comprising, before the work implement repeats the preset trajectory path: and presetting a deviation rectifying threshold according to the preset position information.
7. The trajectory control method according to claim 1, wherein the acquiring preset trajectory path information further comprises: and acquiring a plurality of preset track paths, and numbering the preset track paths.
8. An excavator characterized in that the trajectory control method according to any one of claims 1 to 7 is applied.
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| CN111622283A (en) * | 2020-06-17 | 2020-09-04 | 雷沃工程机械集团有限公司 | Excavator action state monitoring device, excavator and control method |
| CN112666823B (en) * | 2020-12-21 | 2023-04-07 | 潍柴雷沃智慧农业科技股份有限公司 | Operation method and system and agricultural mechanical equipment |
| CN112938777B (en) * | 2021-02-03 | 2022-12-20 | 交通运输部公路科学研究所 | Repeated operation system and method for folding arm type lorry-mounted crane |
| CN114326378B (en) * | 2022-01-27 | 2023-12-05 | 三一重机有限公司 | Method and device for controlling track of working machine and working machine |
| CN115030247B (en) * | 2022-05-27 | 2023-10-31 | 三一重机有限公司 | Boom pose information correction method and device and excavator |
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